Cloud Incubator Car: A Reliable Platform for Autonomous Driving

Directory of Open Access Journals (Sweden)

Raúl Borraz

2018-02-01

Full Text Available It appears clear that the future of road transport is going through enormous changes (intelligent transport systems, the main one being the Intelligent Vehicle (IV. Automated driving requires a huge research effort in multiple technological areas: sensing, control, and driving algorithms. We present a comprehensible and reliable platform for autonomous driving technology development as well as for testing purposes, developed in the Intelligent Vehicles Lab at the Technical University of Cartagena. We propose an open and modular architecture capable of easily integrating a wide variety of sensors and actuators which can be used for testing algorithms and control strategies. As a proof of concept, this paper presents a reliable and complete navigation application for a commercial vehicle (Renault Twizy. It comprises a complete perception system (2D LIDAR, 3D HD LIDAR, ToF cameras, Real-Time Kinematic (RTK unit, Inertial Measurement Unit (IMU, an automation of the driving elements of the vehicle (throttle, steering, brakes, and gearbox, a control system, and a decision-making system. Furthermore, two flexible and reliable algorithms are presented for carrying out global and local route planning on board autonomous vehicles.

Autonomous driving technical, legal and social aspects

CERN Document Server

Gerdes, J; Lenz, Barbara; Winner, Hermann

2016-01-01

This book takes a look at fully automated, autonomous vehicles and discusses many open questions: How can autonomous vehicles be integrated into the current transportation system with diverse users and human drivers? Where do automated vehicles fall under current legal frameworks? What risks are associated with automation and how will society respond to these risks? How will the marketplace react to automated vehicles and what changes may be necessary for companies? Experts from Germany and the United States define key societal, engineering, and mobility issues related to the automation of vehicles. They discuss the decisions programmers of automated vehicles must make to enable vehicles to perceive their environment, interact with other road users, and choose actions that may have ethical consequences. The authors further identify expectations and concerns that will form the basis for individual and societal acceptance of autonomous driving. While the safety benefits of such vehicles are tremendous, the auth...

Drivers’ Visual Behavior-Guided RRT Motion Planner for Autonomous On-Road Driving

Directory of Open Access Journals (Sweden)

Mingbo Du

2016-01-01

Full Text Available This paper describes a real-time motion planner based on the drivers’ visual behavior-guided rapidly exploring random tree (RRT approach, which is applicable to on-road driving of autonomous vehicles. The primary novelty is in the use of the guidance of drivers’ visual search behavior in the framework of RRT motion planner. RRT is an incremental sampling-based method that is widely used to solve the robotic motion planning problems. However, RRT is often unreliable in a number of practical applications such as autonomous vehicles used for on-road driving because of the unnatural trajectory, useless sampling, and slow exploration. To address these problems, we present an interesting RRT algorithm that introduces an effective guided sampling strategy based on the drivers’ visual search behavior on road and a continuous-curvature smooth method based on B-spline. The proposed algorithm is implemented on a real autonomous vehicle and verified against several different traffic scenarios. A large number of the experimental results demonstrate that our algorithm is feasible and efficient for on-road autonomous driving. Furthermore, the comparative test and statistical analyses illustrate that its excellent performance is superior to other previous algorithms.

Drivers' Visual Behavior-Guided RRT Motion Planner for Autonomous On-Road Driving.

Science.gov (United States)

Du, Mingbo; Mei, Tao; Liang, Huawei; Chen, Jiajia; Huang, Rulin; Zhao, Pan

2016-01-15

This paper describes a real-time motion planner based on the drivers' visual behavior-guided rapidly exploring random tree (RRT) approach, which is applicable to on-road driving of autonomous vehicles. The primary novelty is in the use of the guidance of drivers' visual search behavior in the framework of RRT motion planner. RRT is an incremental sampling-based method that is widely used to solve the robotic motion planning problems. However, RRT is often unreliable in a number of practical applications such as autonomous vehicles used for on-road driving because of the unnatural trajectory, useless sampling, and slow exploration. To address these problems, we present an interesting RRT algorithm that introduces an effective guided sampling strategy based on the drivers' visual search behavior on road and a continuous-curvature smooth method based on B-spline. The proposed algorithm is implemented on a real autonomous vehicle and verified against several different traffic scenarios. A large number of the experimental results demonstrate that our algorithm is feasible and efficient for on-road autonomous driving. Furthermore, the comparative test and statistical analyses illustrate that its excellent performance is superior to other previous algorithms.

Drivers’ Visual Behavior-Guided RRT Motion Planner for Autonomous On-Road Driving

Science.gov (United States)

Du, Mingbo; Mei, Tao; Liang, Huawei; Chen, Jiajia; Huang, Rulin; Zhao, Pan

2016-01-01

This paper describes a real-time motion planner based on the drivers’ visual behavior-guided rapidly exploring random tree (RRT) approach, which is applicable to on-road driving of autonomous vehicles. The primary novelty is in the use of the guidance of drivers’ visual search behavior in the framework of RRT motion planner. RRT is an incremental sampling-based method that is widely used to solve the robotic motion planning problems. However, RRT is often unreliable in a number of practical applications such as autonomous vehicles used for on-road driving because of the unnatural trajectory, useless sampling, and slow exploration. To address these problems, we present an interesting RRT algorithm that introduces an effective guided sampling strategy based on the drivers’ visual search behavior on road and a continuous-curvature smooth method based on B-spline. The proposed algorithm is implemented on a real autonomous vehicle and verified against several different traffic scenarios. A large number of the experimental results demonstrate that our algorithm is feasible and efficient for on-road autonomous driving. Furthermore, the comparative test and statistical analyses illustrate that its excellent performance is superior to other previous algorithms. PMID:26784203

Traffic Control Models Based on Cellular Automata for At-Grade Intersections in Autonomous Vehicle Environment

OpenAIRE

Wei Wu; Yang Liu; Yue Xu; Quanlun Wei; Yi Zhang

2017-01-01

Autonomous vehicle is able to facilitate road safety and traffic efficiency and has become a promising trend of future development. With a focus on highways, existing literatures studied the feasibility of autonomous vehicle in continuous traffic flows and the controllability of cooperative driving. However, rare efforts have been made to investigate the traffic control strategies in autonomous vehicle environment on urban roads, especially in urban intersections. In autonomous vehicle enviro...

Probabilistic Tracking and Trajectory Planning for Autonomous Ground Vehicles in Urban Environments

Science.gov (United States)

2016-03-05

Vehicles in Urban Environments The views, opinions and/or findings contained in this report are those of the author(s) and should not contrued as an...Pine Tree Road Ithaca, NY 14850 -2820 ABSTRACT Probabilistic Tracking and Trajectory Planning for Autonomous Ground Vehicles in Urban Environments...Probabilistic Anticipation for Autonomous Robots in Urban Environments, IEEE Transactions on Robotics, (04 2014): 0. doi: 10.1109/TRO.2013.2291620 Isaac

Fleet analysis of headway distance for autonomous driving.

Science.gov (United States)

Ivanco, Andrej

2017-12-01

Modern automobiles are going through a paradigm shift, where the driver may no longer be needed to drive the vehicle. As the self-driving vehicles are making their way to public roads the automakers have to ensure the naturalistic driving feel to gain drivers' confidence and accelerate adoption rates. This paper filters and analyzes a subset of radar data collected from SHRP2 with focus on characterizing the naturalistic headway distance with respect to the vehicle speed. The paper identifies naturalistic headway distance and compares it with the previous findings from the literature. A clear relation between time headway and speed was confirmed and quantified. A significant difference exists among individual drivers which supports a need to further refine the analysis. By understanding the relationship between human driving and their surroundings, the naturalistic driving behavior can be quantified and used to increase the adoption rates of autonomous driving. Dangerous and safety-compromising driving can be identified as well in order to avoid its replication in the control algorithms. Copyright © 2017 National Safety Council and Elsevier Ltd. All rights reserved.

Driving Force Filtering and Driving Mechanism Analysis of Urban Agricultural Development in Weifang County, China

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SUI Fei-fei

2016-03-01

Full Text Available As an agricultural nation, the agricultural landscape is the basic appearance and existence in China, but the common existence often be neglected and contempted. As a new type of design and ideology, the development of urban agricultural landscape will greatly affect the texture and structure of the urban space. According to the urban agricultural production data and the socio-economic data of Weifang County, a set of evaluation index system that could analyze quantitatively the driving force of urban agricultural production changes and the internal drive mechanism was built. The original driving force indicators of economy, society, resources and environment from the time-series were chosen, and then 15 driving forces from the original driving forces by correlation analysis and principal component analysis were selected. The degree of influence was analyzed and the driving forces model by means of partial least squares(PLS was built. The results demonstrated that the factors greatly influenced the increase of urban agricultural output value in Weifang County were per capita net income of rural residents, agricultural machinery total power, effective irrigation area, centralized treatment rate of urban sewage, with the driving exponents 0.2509, 0.1019, 0.1655, 0.1332, respectively. The negative influence factor was the use amount of agricultural plastic film and the driving exponent was-0.2146. The research provides a reference for the development of urban agriculture, as well as a reference for the related study.

Developing Policy for Urban Autonomous Vehicles: Impact on Congestion

Directory of Open Access Journals (Sweden)

David Metz

2018-04-01

Full Text Available An important problem for surface transport is road traffic congestion, which is ubiquitous and difficult to mitigate. Accordingly, a question for policymakers is the possible impact on congestion of autonomous vehicles. It seems likely that the main impact of vehicle automation will not be seen until driverless vehicles are sufficiently safe for use amid general traffic on urban streets. Shared use driverless vehicles could reduce the cost of taxis and a wider range of public transport vehicles could be economic. Individually owned autonomous vehicles would have the ability to travel unoccupied and may need to be regulated where this might add to congestion. It is possible that autonomous vehicles could provide mobility services at lower cost and wider scope, such that private car use in urban areas could decline and congestion reduce. City authorities should be alert to these possibilities in developing transport policy.

Collaborative autonomous systems in models of urban logistics

OpenAIRE

Arango Serna, Martín Darío; Serna Uran, Conrado Augusto; Alvarez Uribe, Karla Cristina; Arango Serna, Martín Darío

2012-01-01

Cities growth and along with them the exchange and distribution of goods and services has led in recent years to a greater increasing interest for the optimization of logistic processes carried out in urban areas. In this article, the main approaches and solutions which have been proposed from academic research will be described, focusing mainly on collaborative autonomic logistics, which is offered as an attractive solution to the urban goods distribution problems in complex cities.

Hybrid path planning for non-holonomic autonomous vehicles: An experimental evaluation

NARCIS (Netherlands)

Esposto, F.; Goos, J.; Teerhuis, A.; Alirezaei, M.

2017-01-01

Path planning of an autonomous vehicle as a non-holonomic system is an essential part for many automated driving applications. Parking a car into a parking lot and maneuvering it through a narrow corridor would be a common driving scenarios in an urban environment. In this study a hybrid approach

Exploring the User Experience of Autonomous Driving: Workshop at AutomotiveUI 2013

OpenAIRE

Tscheligi, Manfred; Wilfinger, David; Meschtscherjakov, Alexander; Montesinos, Carlos; McCall, Roderick; Szostak, Dalila; RatanMich; Muir, Alexander

2008-01-01

Although cars are not flying yet, self-driving cars are definitively closer than some may think. Numerous research organizations and major companies have developed working prototype autonomous vehicles. Three U.S. states have passed laws permitting autonomous cars on public roads and the UK is currently working on making similar policy changes. Technical challenges are of great importance to fully transition to these vehicles, but legislation, infrastructure and human factors elements are of ...

Position estimation and driving of an autonomous vehicle by monocular vision

Science.gov (United States)

Hanan, Jay C.; Kayathi, Pavan; Hughlett, Casey L.

2007-04-01

Automatic adaptive tracking in real-time for target recognition provided autonomous control of a scale model electric truck. The two-wheel drive truck was modified as an autonomous rover test-bed for vision based guidance and navigation. Methods were implemented to monitor tracking error and ensure a safe, accurate arrival at the intended science target. Some methods are situation independent relying only on the confidence error of the target recognition algorithm. Other methods take advantage of the scenario of combined motion and tracking to filter out anomalies. In either case, only a single calibrated camera was needed for position estimation. Results from real-time autonomous driving tests on the JPL simulated Mars yard are presented. Recognition error was often situation dependent. For the rover case, the background was in motion and may be characterized to provide visual cues on rover travel such as rate, pitch, roll, and distance to objects of interest or hazards. Objects in the scene may be used as landmarks, or waypoints, for such estimations. As objects are approached, their scale increases and their orientation may change. In addition, particularly on rough terrain, these orientation and scale changes may be unpredictable. Feature extraction combined with the neural network algorithm was successful in providing visual odometry in the simulated Mars environment.

Driving forces in the Greenlandic urbanization

DEFF Research Database (Denmark)

Hendriksen, Kåre

2014-01-01

Generally urbanization is recognised as a natural development where the population is mowing into the larger towns driven by e.g. better job opportunities, larger product and service supply and better education and health services, and it is often argued that this is also the driving forces...... support and with limited export oriented value creation. It will be disused how the previous and present urbanization interact with a sustainable development and what is the core prerequisites for sustainable towns and settlements....

Amnioserosa cell constriction but not epidermal actin cable tension autonomously drives dorsal closure.

Science.gov (United States)

Pasakarnis, Laurynas; Frei, Erich; Caussinus, Emmanuel; Affolter, Markus; Brunner, Damian

2016-11-01

Tissue morphogenesis requires coordination of multiple force-producing components. During dorsal closure in fly embryogenesis, an epidermis opening closes. A tensioned epidermal actin/MyosinII cable, which surrounds the opening, produces a force that is thought to combine with another MyosinII force mediating apical constriction of the amnioserosa cells that fill the opening. A model proposing that each force could autonomously drive dorsal closure was recently challenged by a model in which the two forces combine in a ratchet mechanism. Acute force elimination via selective MyosinII depletion in one or the other tissue shows that the amnioserosa tissue autonomously drives dorsal closure while the actin/MyosinII cable cannot. These findings exclude both previous models, although a contribution of the ratchet mechanism at dorsal closure onset remains likely. This shifts the current view of dorsal closure being a combinatorial force-component system to a single tissue-driven closure event.

Motorcycle emissions and fuel consumption in urban and rural driving conditions.

Science.gov (United States)

Chen, K S; Wang, W C; Chen, H M; Lin, C F; Hsu, H C; Kao, J H; Hu, M T

2003-08-01

This work reports sampling of motorcycle on-road driving cycles in actual urban and rural environments and the development of representative driving cycles using the principle of least total variance in individual regions. Based on the representative driving cycles in individual regions, emission factors for carbon monoxide (CO), hydrocarbons (HC), nitrogen oxides (NO(x)=NO+NO(2)) and carbon dioxide (CO(2)), as well as fuel consumption, were determined using a chassis dynamometer. The measurement results show that the representative driving cycles are almost identical in the three largest cities in Taiwan, but they differ significantly from the rural driving cycle. Irrespective of driving conditions, emission factors differ insignificantly between the urban and rural regions at a 95% confidence level. However, the fuel consumption in urban centers is approximately 30% higher than in the rural regions, with driving conditions in the former usually poor compared to the latter. Two-stroke motorcycles generally have considerably higher HC emissions and quite lower NO(x) emissions than those of four-stroke motorcycles. Comparisons with other studies suggest that factors such as road characteristics, traffic volume, vehicle type, driving conditions and driver behavior may affect motorcycle emission levels in real traffic situations.

Motorcycle emissions and fuel consumption in urban and rural driving conditions

International Nuclear Information System (INIS)

Chen, K.S.; Wang, W.C.; Chen, H.M.; Lin, C.F.; Hsu, H.C.; Kao, J.H.; Hu, M.T.

2003-01-01

This work reports sampling of motorcycle on-road driving cycles in actual urban and rural environments and the development of representative driving cycles using the principle of least total variance in individual regions. Based on the representative driving cycles in individual regions, emission factors for carbon monoxide (CO), hydrocarbons (HC), nitrogen oxides (NO x =NO+NO 2 ) and carbon dioxide (CO 2 ), as well as fuel consumption, were determined using a chassis dynamometer. The measurement results show that the representative driving cycles are almost identical in the three largest cities in Taiwan, but they differ significantly from the rural driving cycle. Irrespective of driving conditions, emission factors differ insignificantly between the urban and rural regions at a 95% confidence level. However, the fuel consumption in urban centers is approximately 30% higher than in the rural regions, with driving conditions in the former usually poor compared to the latter. Two-stroke motorcycles generally have considerably higher HC emissions and quite lower NO x emissions than those of four-stroke motorcycles. Comparisons with other studies suggest that factors such as road characteristics, traffic volume, vehicle type, driving conditions and driver behavior may affect motorcycle emission levels in real traffic situations

Predictive routing for autonomous mobility-on-demand systems with ride-sharing

NARCIS (Netherlands)

Alonso Mora, J.; Wallar, Alex; Rus, Daniela; Bicchi, A.; Maciejewski, T.

2017-01-01

Ride-sharing, or carpooling, systems with autonomous vehicles will provide efficient and reliable urban mobility on demand. In this work we present a method for dynamic vehicle routing that leverages historical data to improve the performance of a network of self-driving taxis. In particular, we

Safety evaluation model of urban cross-river tunnel based on driving simulation.

Science.gov (United States)

Ma, Yingqi; Lu, Linjun; Lu, Jian John

2017-09-01

Currently, Shanghai urban cross-river tunnels have three principal characteristics: increased traffic, a high accident rate and rapidly developing construction. Because of their complex geographic and hydrological characteristics, the alignment conditions in urban cross-river tunnels are more complicated than in highway tunnels, so a safety evaluation of urban cross-river tunnels is necessary to suggest follow-up construction and changes in operational management. A driving risk index (DRI) for urban cross-river tunnels was proposed in this study. An index system was also constructed, combining eight factors derived from the output of a driving simulator regarding three aspects of risk due to following, lateral accidents and driver workload. Analytic hierarchy process methods and expert marking and normalization processing were applied to construct a mathematical model for the DRI. The driving simulator was used to simulate 12 Shanghai urban cross-river tunnels and a relationship was obtained between the DRI for the tunnels and the corresponding accident rate (AR) via a regression analysis. The regression analysis results showed that the relationship between the DRI and the AR mapped to an exponential function with a high degree of fit. In the absence of detailed accident data, a safety evaluation model based on factors derived from a driving simulation can effectively assess the driving risk in urban cross-river tunnels constructed or in design.

Driving factors of urban land growth in Guangzhou and its implications for sustainable development

Science.gov (United States)

Cui, Xuezhu; Li, Shaoying; Wang, Xuetong; Xue, Xiaolong

2018-04-01

Since 2000, China's urban land has expanded at a dramatic speed because of the country's rapid urbanization. The country has been experiencing unbalanced development between rural and urban areas, causing serious challenges such as agricultural security and land resources waste. Effectively evaluating the driving factors of urban land growth is essential for improving efficient land use management and sustainable urban development. This study established a principal component regression model based on eight indicators to identify their influences on urban land growth in Guangzhou. The results provided a grouping analysis of the driving factors, and found that economic growth, urban population, and transportation development are the driving forces of urban land growth of Guangzhou, while the tertiary industry has an opposite effect. The findings led to further suggestions and recommendations for urban sustainable development. Hence, local governments should design relevant policies for achieving the rational development of urban land use and strategic planning on urban sustainable development.

Development of Urban Driving Cycle with GPS Data Post Processing

Directory of Open Access Journals (Sweden)

Peter Lipar

2016-08-01

Full Text Available This paper presents GIS-based methodology for urban area driving cycle construction. The approach reaches beyond the frames of usual driving cycle development methods and takes into account another perspective of data collection. Rather than planning data collection, the approach is based on available in-vehicle measurement data post processing using Geographic Information Systems to manipulate the excessive database and extract only the representative and geographically limited individual trip data. With such data post processing the data was carefully adjusted to include only the data that describe representative driving in Ljubljana urban area. The selected method for the driving cycle development is based on searching for the best microtrips combination while minimizing the difference between two vectors; one based on generated cycle and the other on the database. Accounting for a large random sample of actual trip data, our approach enables more representative area-specific driving cycle development than the previously used techniques.

Real-time object detection and semantic segmentation for autonomous driving

Science.gov (United States)

Li, Baojun; Liu, Shun; Xu, Weichao; Qiu, Wei

2018-02-01

In this paper, we proposed a Highly Coupled Network (HCNet) for joint objection detection and semantic segmentation. It follows that our method is faster and performs better than the previous approaches whose decoder networks of different tasks are independent. Besides, we present multi-scale loss architecture to learn better representation for different scale objects, but without extra time in the inference phase. Experiment results show that our method achieves state-of-the-art results on the KITTI datasets. Moreover, it can run at 35 FPS on a GPU and thus is a practical solution to object detection and semantic segmentation for autonomous driving.

Design Comparison of Autonomous High Voltage Driving System for DEAP Actuator

DEFF Research Database (Denmark)

Huang, Lina; Pittini, Riccardo; Zhang, Zhe

2014-01-01

As a new type of smart material, the Dielectric Electro Active Polymer (DEAP) is introduced in terms of configuration, working principle and potential applications. The design of an autonomous high voltage driving system for DEAP actuator is investigated. The system configuration and the design...... methodology of a high voltage converter are discussed in detail. Based on the heating valve application, three different high voltage converter solutions have been proposed. The different proposals have been compared in terms of energy loss, volume and cost. Finally, the design selection suggestions...

Motorcycle On-Road Driving Parameters Influencing Fuel Consumption and Emissions on Congested Signalized Urban Corridor

Directory of Open Access Journals (Sweden)

Atthapol Seedam

2017-01-01

Full Text Available This study aims to find the on-road driving parameters influencing fuel consumption and emissions of motorcycle driving on a congested signalized urban corridor. A motorcycle onboard measurement system was developed to measure instantaneously and continuously record on-road driving data, including speed-time profile, emissions, and fuel consumption, by the second. The test motorcycles were driven by 30 sample motorcyclists on a signalized urban corridor in Khon Kaen City, Thailand, to collect their on-road driving behavior during the morning peak period. Cluster analysis was applied to analyze collected driving data and to categorize the drivers by level of fuel consumption and on-road driver behavior. The on-road driving parameter influencing fuel consumption and emissions was then determined. Results revealed that proportion of idle time significantly influenced fuel consumption and emissions of motorcycle driving on a congested signalized urban corridor, though aggressive driving behavior, hard acceleration and deceleration, did not have the same kind of influence.

Changing and Differentiated Urban Landscape in China: Spatiotemporal Patterns and Driving Forces.

Science.gov (United States)

Fang, Chuanglin; Li, Guangdong; Wang, Shaojian

2016-03-01

Urban landscape spatiotemporal change patterns and their driving mechanisms in China are poorly understood at the national level. Here we used remote sensing data, landscape metrics, and a spatial econometric model to characterize the spatiotemporal patterns of urban landscape change and investigate its driving forces in China between 1990 and 2005. The results showed that the urban landscape pattern has experienced drastic changes over the past 15 years. Total urban area has expanded approximately 1.61 times, with a 2.98% annual urban-growth rate. Compared to previous single-city studies, although urban areas are expanding rapidly, the overall fragmentation of the urban landscape is decreasing and is more irregular and complex at the national level. We also found a stair-stepping, urban-landscape changing pattern among eastern, central, and western counties. In addition, administrative level, urban size, and hierarchy have effects on the urban landscape pattern. We also found that a combination of landscape metrics can be used to supplement our understanding of the pattern of urbanization. The changes in these metrics are correlated with geographical indicators, socioeconomic factors, infrastructure variables, administrative level factors, policy factors, and historical factors. Our results indicate that the top priority should be strengthening the management of urban planning. A compact and congregate urban landscape may be a good choice of pattern for urban development in China.

Analysis of mixed traffic flow with human-driving and autonomous cars based on car-following model

Science.gov (United States)

Zhu, Wen-Xing; Zhang, H. M.

2018-04-01

We investigated the mixed traffic flow with human-driving and autonomous cars. A new mathematical model with adjustable sensitivity and smooth factor was proposed to describe the autonomous car's moving behavior in which smooth factor is used to balance the front and back headway in a flow. A lemma and a theorem were proved to support the stability criteria in traffic flow. A series of simulations were carried out to analyze the mixed traffic flow. The fundamental diagrams were obtained from the numerical simulation results. The varying sensitivity and smooth factor of autonomous cars affect traffic flux, which exhibits opposite varying tendency with increasing parameters before and after the critical density. Moreover, the sensitivity of sensors and smooth factors play an important role in stabilizing the mixed traffic flow and suppressing the traffic jam.

Evaluation of a Dry EEG System for Application of Passive Brain-Computer Interfaces in Autonomous Driving.

Science.gov (United States)

Zander, Thorsten O; Andreessen, Lena M; Berg, Angela; Bleuel, Maurice; Pawlitzki, Juliane; Zawallich, Lars; Krol, Laurens R; Gramann, Klaus

2017-01-01

We tested the applicability and signal quality of a 16 channel dry electroencephalography (EEG) system in a laboratory environment and in a car under controlled, realistic conditions. The aim of our investigation was an estimation how well a passive Brain-Computer Interface (pBCI) can work in an autonomous driving scenario. The evaluation considered speed and accuracy of self-applicability by an untrained person, quality of recorded EEG data, shifts of electrode positions on the head after driving-related movements, usability, and complexity of the system as such and wearing comfort over time. An experiment was conducted inside and outside of a stationary vehicle with running engine, air-conditioning, and muted radio. Signal quality was sufficient for standard EEG analysis in the time and frequency domain as well as for the use in pBCIs. While the influence of vehicle-induced interferences to data quality was insignificant, driving-related movements led to strong shifts in electrode positions. In general, the EEG system used allowed for a fast self-applicability of cap and electrodes. The assessed usability of the system was still acceptable while the wearing comfort decreased strongly over time due to friction and pressure to the head. From these results we conclude that the evaluated system should provide the essential requirements for an application in an autonomous driving context. Nevertheless, further refinement is suggested to reduce shifts of the system due to body movements and increase the headset's usability and wearing comfort.

Electric Drive Discrete Control System with Automatic Switching-On Reserve for Autonomous Settlement

Directory of Open Access Journals (Sweden)

Tsytovich L.I.

2015-08-01

Full Text Available The paper aims at developing of control the water supply system’s electric drives for autonomous settlement. The system provides automatic switching to a reserve control channel at refusal of any of the functional elements of the working regulation channel. Usually, such systems have a test signal generator and analyzer to system response to their impact. This result to an increase in the structural redundancy of the system, increase its cost and increase the requirements for the staff qualification. A specific feature of the system is its ability to self-diagnosis of catastrophic malfunctions of scheme’s components and an automatic switching-on the reserve control channels, without applying any test signals to the whole complex of electrical equipment. Multi-zone integrating regulator with frequency-pulse-width modulation realizes this technical solution. Control system structure and signals timing diagrams are presented. The construction principle of adaptive interval-code synchronization device with improved noise stability to control the voltage regulators serving for smooth start-up of asynchronous motors of water pumps is considered as well. Such solution allowing increase noise stability and reliability work of the system in conditions of limited power electrical networks, which is characteristic for the autonomous settlements. The article may be of interest to specialists in the field of power electronics and information electronics, electric drives and process automation.

Factors influencing the control strategy of hybrid drive of urban public transport buses

International Nuclear Information System (INIS)

Barta, Dalibor; Mruzek, Martin

2015-01-01

The efficiency of each drives is dependent on many factors. Hybrid drives and specially the drives of urban public transport may be affected by other factors given by transport infrastructure or operational conditions. These factors condition the suitable configuration of the individual elements of hybrid drive and the establishment of good control strategy of such drive. The study of influencing factors of the control strategy is the aim of this paper. (full text)

Dynamic path planning for autonomous driving on various roads with avoidance of static and moving obstacles

Science.gov (United States)

Hu, Xuemin; Chen, Long; Tang, Bo; Cao, Dongpu; He, Haibo

2018-02-01

This paper presents a real-time dynamic path planning method for autonomous driving that avoids both static and moving obstacles. The proposed path planning method determines not only an optimal path, but also the appropriate acceleration and speed for a vehicle. In this method, we first construct a center line from a set of predefined waypoints, which are usually obtained from a lane-level map. A series of path candidates are generated by the arc length and offset to the center line in the s - ρ coordinate system. Then, all of these candidates are converted into Cartesian coordinates. The optimal path is selected considering the total cost of static safety, comfortability, and dynamic safety; meanwhile, the appropriate acceleration and speed for the optimal path are also identified. Various types of roads, including single-lane roads and multi-lane roads with static and moving obstacles, are designed to test the proposed method. The simulation results demonstrate the effectiveness of the proposed method, and indicate its wide practical application to autonomous driving.

Dempster Shafer Sensor Fusion for Autonomously Driving Vehicles : Association Free Tracking of Dynamic Objects

OpenAIRE

Högger, Andreas

2016-01-01

Autonomous driving vehicles introduce challenging research areas combining differ-ent disciplines. One challenge is the detection of obstacles with different sensors and the combination of information to generate a comprehensive representation of the environment, which can be used for path planning and decision making.The sensor fusion is demonstrated using two Velodyne multi beam laser scanners, but it is possible to extend the proposed sensor fusion framework for different sensor types. Sensor...

Identifying the driving forces of urban expansion and its environmental impact in Jakarta-Bandung mega urban region

Science.gov (United States)

Pravitasari, A. E.; Rustiadi, E.; Mulya, S. P.; Setiawan, Y.; Fuadina, L. N.; Murtadho, A.

2018-05-01

The socio-economic development in Jakarta-Bandung Mega Urban Region (JBMUR) caused the increasing of urban expansion and led to a variety of environmental damage such as uncontrolled land use conversion and raising anthropogenic disaster. The objectives of this study are: (1) to identify the driving forces of urban expansion that occurs on JBMUR and (2) to analyze the environmental quality decline on JBMUR by producing time series spatial distribution map and spatial autocorrelation of floods and landslide as the proxy of anthropogenic disaster. The driving forces of urban expansion in this study were identified by employing Geographically Weighted Regression (GWR) model using 6 (six) independent variables, namely: population density, percentage of agricultural land, distance to the center of capital city/municipality, percentage of household who works in agricultural sector, distance to the provincial road, and distance to the local road. The GWR results showed that local demographic, social and economic factors including distance to the road spatially affect urban expansion in JBMUR. The time series spatial distribution map of floods and landslide event showed the spatial cluster of anthropogenic disaster in some areas. Through Local Moran Index, we found that environmental damage in one location has a significant impact on the condition of its surrounding area.

Shared vision and autonomous motivation vs. financial incentives driving success in corporate acquisitions.

Science.gov (United States)

Clayton, Byron C

2014-01-01

Successful corporate acquisitions require its managers to achieve substantial performance improvements in order to sufficiently cover acquisition premiums, the expected return of debt and equity investors, and the additional resources needed to capture synergies and accelerate growth. Acquirers understand that achieving the performance improvements necessary to cover these costs and create value for investors will most likely require a significant effort from mergers and acquisitions (M&A) management teams. This understanding drives the common and longstanding practice of offering hefty performance incentive packages to key managers, assuming that financial incentives will induce in-role and extra-role behaviors that drive organizational change and growth. The present study debunks the assumptions of this common M&A practice, providing quantitative evidence that shared vision and autonomous motivation are far more effective drivers of managerial performance than financial incentives.

Shared vision and autonomous motivation vs. financial incentives driving success in corporate acquisitions

Science.gov (United States)

Clayton, Byron C.

2015-01-01

Successful corporate acquisitions require its managers to achieve substantial performance improvements in order to sufficiently cover acquisition premiums, the expected return of debt and equity investors, and the additional resources needed to capture synergies and accelerate growth. Acquirers understand that achieving the performance improvements necessary to cover these costs and create value for investors will most likely require a significant effort from mergers and acquisitions (M&A) management teams. This understanding drives the common and longstanding practice of offering hefty performance incentive packages to key managers, assuming that financial incentives will induce in-role and extra-role behaviors that drive organizational change and growth. The present study debunks the assumptions of this common M&A practice, providing quantitative evidence that shared vision and autonomous motivation are far more effective drivers of managerial performance than financial incentives. PMID:25610406

Shared Vision and Autonomous Motivation versus Financial Incentives Driving Success in Corporate Acquisitions

Directory of Open Access Journals (Sweden)

Byron C Clayton

2015-01-01

Full Text Available Successful corporate acquisitions require its managers to achieve substantial performance improvements in order to sufficiently cover acquisition premiums, the expected return of debt and equity investors, and the additional resources needed to capture synergies and accelerate growth. Acquirers understand that achieving the performance improvements necessary to cover these costs and create value for investors will most likely require a significant effort from mergers and acquisitions (M&A management teams. This understanding drives the common and longstanding practice of offering hefty performance incentive packages to key managers, assuming that financial incentives will induce in-role and extra-role behaviors that drive organizational change and growth. The present study debunks the assumptions of this common M&A practice, providing quantitative evidence that shared vision and autonomous motivation are far more effective drivers of managerial performance than financial incentives.

A Global Navigation Management Architecture Applied to Autonomous Robots in Urban Environments

OpenAIRE

Kenmogne , Ide-Flore; Alves De Lima , Danilo; Corrêa Victorino , Alessandro

2015-01-01

International audience; This paper presents a global behavioral architecture used as a coordinator for the global navigation of an autonomous vehicle in an urban context including traffic laws and other features. As an extension to our previous work, the approach presented here focuses on how this manager uses perceived information (from low cost cameras and laser scanners) combined with digital road-map data to take decisions. This decision consists in retrieving the car's state regarding th...

A Framework for Evidence-Based Licensure of Adaptive Autonomous Systems: Technical Areas

Science.gov (United States)

2016-03-01

autonomous tractor-trailer, the natural next evolution of the self - driving cars under development today. The tractor-trailer must be able to drive safely...letting other teens drive the vehicle , etc.) In this example, gradual permission for additional licensure and extended autonomous driving privileges under...to achieve a quasi-structured goal such as landing an airplane or driving a vehicle . This kind of autonomous system begins with core

The Comparison and Modeling of the Driving Factors of Urban Expansion for Thirty-Five Big Cities in the Three Regions in China

Directory of Open Access Journals (Sweden)

Tian Guangjin

2016-01-01

Full Text Available This paper presents a national- and regional-scale urban growth model (NRUGM of China based on panel data analysis. Through the panel analysis, population growth, road construction, salary increment per capita, and secondary industry product increment were proven to be the major driving factors for national-scale urban expansion. According to Seventh Five-Year Plan, China had been divided into three regions, Eastern China, Middle China, and Western China, by their geographic position and economic development. We studied the relationship between urban expansion and the driving factors for the three regions between 1990 and 2010 in China. The driving factors of urban expansion were different for the different regions and periods. Population growth and road construction were identified as the two major factors driving urban expansion for Eastern China. Secondary industry and economic development had become the major driving factors for urban expansion over the last twenty years in Middle China. Over the same period, for Western China, economic growth had become the major driving factor for urban expansion. Our results have significant policy implications for China. The macrocontrol of the central government should utilize different policies to adjust urban expansion in the different regions.

Proceedings of the Prop'Elec 2000 colloquium. Advances of electric drive in urban transportation systems; Actes du colloque Prop'Elec 2000. Progres de la traction electrique dans les transports urbains

Energy Technology Data Exchange (ETDEWEB)

NONE

2000-07-01

This document is the proceedings of Prop'Elec 2000 colloquium on the advances in electric power drive in urban transportation systems. The colloquium comprises 5 sessions dealing with: 1 - public collective electric-powered transportation system: synthesis of urban guided systems (C. Soulas, INRETS), the fast travelator (A. Cote, RATP), the power supply system of METEOR automatic underground railway (P. Lagrange, W. Seiler, RATP); 2 - electrical drive in urban transportation systems: start-up of a thermal engine with super-capacitors (D. Bouquain (CREEBEL), H. Gualous, A. Djerdir, A. Berthon, J.M. Kauffmann (L2ES, IGE)), The LEV (light weight electric vehicle) project in Mendrisio (U. Schwegler, LEV/Suisse), prototype of electrical bike that use a wheel-engine (C. Espanet, F. Gustin, J.M. Kauffmann (IGE), S. Robert, M. Karmous (EICN)), TWIL: a new generation of small electrical bikes (E. Escallot, T. Bontems (EPMI)), thermal and magnetic analysis of a rectilinear movement actuator (J.C. Vannier, M. Kadiri (SUPELEC)), torque undulation and vibrations in automobile electrical drives (A.L. Bui-Van (Renault), A. Fonseca (LEG)); 3 - collective electric-powered transportation systems: STARS: autonomous transportation system with flywheel charging at the station (P. Gibard (Alstom Transport), K. Abuda, J.M. Vinassa (IXL Bordeaux)), Translhor tramway: presentation of the drive system (L. Verdier, LHOR); 4 - electric-powered and hybrid vehicles: batteries for electric-powered vehicles (J.F. Fauvarque, CNAM), Li-ion batteries and their application in automotive industry (T. Faugeras, SAFT), optimized drive systems for electric-powered vehicles (J. Saint-Michel, Leroy Somer), the Citroen Xsara Dynactive (S. Derou, PSA), 5 - electric-powered and hybrid vehicles: the electrical car in tomorrows' city (M. Parent, INRIA), the market of electric-powered vehicles in France and Europe (M. Valet, PSA). (J.S.)

Autonomous Vehicles: A Policy Roadmap for Law Enforcement

Science.gov (United States)

2015-09-01

autonomous vehicle , vehicles , self - driving car , automated...the fault of the autonomous vehicle .6 In other words, human error was the fault in all of the collisions and the self - driving car has NEVER caused a...32 David Shamah, “As Google Dreams of Driverless Cars , IDF Deploys Them: Self Driving Vehicles Are not New for the Israeli Army, and a

Negotiating the Traffic: Can Cognitive Science Help Make Autonomous Vehicles a Reality?

Science.gov (United States)

Chater, Nick; Misyak, Jennifer; Watson, Derrick; Griffiths, Nathan; Mouzakitis, Alex

2018-02-01

To drive safely among human drivers, cyclists and pedestrians, autonomous vehicles will need to mimic, or ideally improve upon, humanlike driving. Yet, driving presents us with difficult problems of joint action: 'negotiating' with other users over shared road space. We argue that autonomous driving provides a test case for computational theories of social interaction, with fundamental implications for the development of autonomous vehicles. Copyright © 2017 Elsevier Ltd. All rights reserved.

Traffic jam driving with NMV avoidance

Science.gov (United States)

Milanés, Vicente; Alonso, Luciano; Villagrá, Jorge; Godoy, Jorge; de Pedro, Teresa; Oria, Juan P.

2012-08-01

In recent years, the development of advanced driver assistance systems (ADAS) - mainly based on lidar and cameras - has considerably improved the safety of driving in urban environments. These systems provide warning signals for the driver in the case that any unexpected traffic circumstance is detected. The next step is to develop systems capable not only of warning the driver but also of taking over control of the car to avoid a potential collision. In the present communication, a system capable of autonomously avoiding collisions in traffic jam situations is presented. First, a perception system was developed for urban situations—in which not only vehicles have to be considered, but also pedestrians and other non-motor-vehicles (NMV). It comprises a differential global positioning system (DGPS) and wireless communication for vehicle detection, and an ultrasound sensor for NMV detection. Then, the vehicle's actuators - brake and throttle pedals - were modified to permit autonomous control. Finally, a fuzzy logic controller was implemented capable of analyzing the information provided by the perception system and of sending control commands to the vehicle's actuators so as to avoid accidents. The feasibility of the integrated system was tested by mounting it in a commercial vehicle, with the results being encouraging.

Effects of Lane Width, Lane Position and Edge Shoulder Width on Driving Behavior in Underground Urban Expressways: A Driving Simulator Study

Directory of Open Access Journals (Sweden)

Shuo Liu

2016-10-01

Full Text Available This study tested the effects of lane width, lane position and edge shoulder width on driving behavior for a three-lane underground urban expressway. A driving simulator was used with 24 volunteer test subjects. Five lane widths (2.85, 3.00, 3.25, 3.50, and 3.75 m and three shoulder widths (0.50, 0.75, and 1.00 m were studied. Driving speed, lane deviation and subjective perception of driving behavior were collected as performance measures. The results show that lane and shoulder width have significant effects on driving speed. Average driving speed increases from 60.01 km/h in the narrowest lane to 88.05 km/h in the widest lane. While both narrower lanes and shoulders result in reduced speed and lateral lane deviation, the effect of lane width is greater than that of shoulder width. When the lane and shoulder are narrow, drivers in the left or right lane tend to shy away from the tunnel wall, even encroaching into the neighboring middle lane. As the lane or shoulder gets wider, drivers tend to stay in the middle of the lane. An interesting finding is that although few participants acknowledged that lane position had any great bearing on their driving behaviors, the observed driving speed is statistically higher in the left lane than in the other two lanes when the lane width is narrow (in 2.85, 3 and 3.25 m lanes. These findings provided support for amending the current design specifications of urban underground roads, such as the relationship between design speed and lane width, speed limit, and combination form of lanes.

Proceedings of the Prop'Elec 2000 colloquium. Advances of electric drive in urban transportation systems; Actes du colloque Prop'Elec 2000. Progres de la traction electrique dans les transports urbains

Energy Technology Data Exchange (ETDEWEB)

NONE

2000-07-01

This document is the proceedings of Prop'Elec 2000 colloquium on the advances in electric power drive in urban transportation systems. The colloquium comprises 5 sessions dealing with: 1 - public collective electric-powered transportation system: synthesis of urban guided systems (C. Soulas, INRETS), the fast travelator (A. Cote, RATP), the power supply system of METEOR automatic underground railway (P. Lagrange, W. Seiler, RATP); 2 - electrical drive in urban transportation systems: start-up of a thermal engine with super-capacitors (D. Bouquain (CREEBEL), H. Gualous, A. Djerdir, A. Berthon, J.M. Kauffmann (L2ES, IGE)), The LEV (light weight electric vehicle) project in Mendrisio (U. Schwegler, LEV/Suisse), prototype of electrical bike that use a wheel-engine (C. Espanet, F. Gustin, J.M. Kauffmann (IGE), S. Robert, M. Karmous (EICN)), TWIL: a new generation of small electrical bikes (E. Escallot, T. Bontems (EPMI)), thermal and magnetic analysis of a rectilinear movement actuator (J.C. Vannier, M. Kadiri (SUPELEC)), torque undulation and vibrations in automobile electrical drives (A.L. Bui-Van (Renault), A. Fonseca (LEG)); 3 - collective electric-powered transportation systems: STARS: autonomous transportation system with flywheel charging at the station (P. Gibard (Alstom Transport), K. Abuda, J.M. Vinassa (IXL Bordeaux)), Translhor tramway: presentation of the drive system (L. Verdier, LHOR); 4 - electric-powered and hybrid vehicles: batteries for electric-powered vehicles (J.F. Fauvarque, CNAM), Li-ion batteries and their application in automotive industry (T. Faugeras, SAFT), optimized drive systems for electric-powered vehicles (J. Saint-Michel, Leroy Somer), the Citroen Xsara Dynactive (S. Derou, PSA), 5 - electric-powered and hybrid vehicles: the electrical car in tomorrows' city (M. Parent, INRIA), the market of electric-powered vehicles in France and Europe (M. Valet, PSA). (J.S.)

From advanced driver assistance to autonomous driving: perspectives for photonics sensors

Science.gov (United States)

Cochard, Jacques; Bouyé, Clémentine

2016-03-01

Optics components entered in the automotive vehicle one century ago with headlamps and since then move towards even more sophisticated designs in lighting functions. Photonics sensors are just entering now in this market through driver assistance, in complement of incumbent ultrasonic and radar technologies. Gain of market shares is expected for this components with autonomous driving, that was few years ago a nice dream and whose early results exceed surprisingly expectations of roadmaps and historic OEM have quickly joined the course launched by Google Company 5 years ago. Technological components, among them CMOS camera followed by Laser Scanners, cost-effective flash LIDAR are already experimenting their first miles in real condition and new consumers in South Asia plebiscite this new way to drive cars .The issue is still for photonics companies to move from well suited technological solution to mass-production components with corresponding cost reduction. MEMS components that follow the same curve 15 years ago (with market entries in airbags, tire pressure monitoring systems…) experimented the hard pressure on price for wide market adoption. Besides price, which is a CFO issue, photonic technologies will keep in place if they can both reassure OEM CEO and let CTO and designers dream. Reassurance will be through higher level of standardization and reliability of these components whereas dream will be linked to innovative sensing application, e.g spectroscopy.

Influence of Urban Traffic Driving Conditions and Vehicle Cubic Capacity on CO and VOC Emissions

Directory of Open Access Journals (Sweden)

Arina Negoitescu

2013-09-01

Full Text Available The reports regarding the global warming warn on the urgent need to reduce pollutant emissions and in particular greenhouse emissions. The performed analysis shows that cars equipped with engines operating on petrol, lead to a lower level of pollution, from the point of view of CO (carbon monoxide and VOCs (volatile organic compounds emissions at speeds above 50km/ h. Since driving in urban traffic mode involves driving with a speed up to 50km/h, it was comparatively analyzed the automobile engines operation with different cubic capacities. In conclusion, in terms of the analyzed emissions in accordance with the emission standards requirements for urban driving situations, it results that the accepted values of these emissions are recorded for automobile engines of low cubic capacities (under 1.4 l.

Autonomous Docking Based on Infrared System for Electric Vehicle Charging in Urban Areas

Science.gov (United States)

Pérez, Joshué; Nashashibi, Fawzi; Lefaudeux, Benjamin; Resende, Paulo; Pollard, Evangeline

2013-01-01

Electric vehicles are progressively introduced in urban areas, because of their ability to reduce air pollution, fuel consumption and noise nuisance. Nowadays, some big cities are launching the first electric car-sharing projects to clear traffic jams and enhance urban mobility, as an alternative to the classic public transportation systems. However, there are still some problems to be solved related to energy storage, electric charging and autonomy. In this paper, we present an autonomous docking system for electric vehicles recharging based on an embarked infrared camera performing infrared beacons detection installed in the infrastructure. A visual servoing system coupled with an automatic controller allows the vehicle to dock accurately to the recharging booth in a street parking area. The results show good behavior of the implemented system, which is currently deployed as a real prototype system in the city of Paris. PMID:23429581

Autonomous docking based on infrared system for electric vehicle charging in urban areas.

Science.gov (United States)

Pérez, Joshué; Nashashibi, Fawzi; Lefaudeux, Benjamin; Resende, Paulo; Pollard, Evangeline

2013-02-21

Electric vehicles are progressively introduced in urban areas, because of their ability to reduce air pollution, fuel consumption and noise nuisance. Nowadays, some big cities are launching the first electric car-sharing projects to clear traffic jams and enhance urban mobility, as an alternative to the classic public transportation systems. However, there are still some problems to be solved related to energy storage, electric charging and autonomy. In this paper, we present an autonomous docking system for electric vehicles recharging based on an embarked infrared camera performing infrared beacons detection installed in the infrastructure. A visual servoing system coupled with an automatic controller allows the vehicle to dock accurately to the recharging booth in a street parking area. The results show good behavior of the implemented system, which is currently deployed as a real prototype system in the city of Paris.

THE CALCULATION OF THE ENERGY RECOVERY ELECTRIFIED URBAN TRANSPORT DURING THE INSTALLATION DRIVE FOR TRACTION SUBSTATION

Directory of Open Access Journals (Sweden)

A. A. Sulim

2014-01-01

Full Text Available At present a great attention is paid to increasing of energy efficiency at operated electrified urban transport. Perspective direction for increasing energy efficiency at that type of transport is the application of regenerative braking. For additional increasing of energy efficiency there were suggested the use of capacitive drive on tires of traction substation. One of the main task is the analysis of energy recovery application  with drive and without it.These analysis demonstrated that the calculation algorithms don’t allow in the full volume to carry out calculations of amount and cost of energy recovery without drive and with it. That is why we see the current interest to this topic. The purpose of work is to create methods of algorithms calculation for definite amount and cost of consumed, redundant and recovery energy of electrified urban transport due to definite regime of motion on wayside. There is algorithm developed, which allow to calculate amount and cost of consumed, redundant and recovery energy of electrified urban transport on wayside during the installation capacitive drive at traction substation. On the basis of developed algorithm for the definite regime of wagon motion of subway there were fulfilled the example of energy recovery amount and its cost calculation, among them with limited energy intensity drive, when there are 4 trains on wayside simultaneously.

Commande prédictive pour conduite autonome et coopérative

OpenAIRE

Qian , Xiangjun

2016-01-01

Autonomous driving has been gaining more and more attention in the last decades, thanks to its positive social-economic impacts including the enhancement of traffic efficiency and the reduction of road accidents. A number of research institutes and companies have tested autonomous vehicles in traffic, accumulating tens of millions of kilometers traveled in autonomous driving. With the vision of massive deployment of autonomous vehicles, researchers have also started to envision cooperative st...

Driving mechanism and sources of groundwater nitrate contamination in the rapidly urbanized region of south China

Science.gov (United States)

Zhang, Qianqian; Sun, Jichao; Liu, Jingtao; Huang, Guanxing; Lu, Chuan; Zhang, Yuxi

2015-11-01

Nitrate contamination of groundwater has become an environmental problem of widespread concern in China. We collected 899 groundwater samples from a rapidly urbanized area, in order to identify the main sources and driving mechanisms of groundwater nitrate contamination. The results showed that the land use has a significant effect on groundwater nitrate concentration (P population growth. This study revealed that domestic wastewater and industrial wastewater were the main sources of groundwater nitrate pollution. Therefore, the priority method for relieving groundwater nitrate contamination is to control the random discharge of domestic and industrial wastewater in regions undergoing rapid urbanization. Capsule abstract. The main driving mechanism of groundwater nitrate contamination was determined to be urban construction and the secondary and tertiary industrial development, and population growth.

Human Decisions in Moral Dilemmas are Largely Described by Utilitarianism: Virtual Car Driving Study Provides Guidelines for Autonomous Driving Vehicles.

Science.gov (United States)

Faulhaber, Anja K; Dittmer, Anke; Blind, Felix; Wächter, Maximilian A; Timm, Silja; Sütfeld, Leon R; Stephan, Achim; Pipa, Gordon; König, Peter

2018-01-22

Ethical thought experiments such as the trolley dilemma have been investigated extensively in the past, showing that humans act in utilitarian ways, trying to cause as little overall damage as possible. These trolley dilemmas have gained renewed attention over the past few years, especially due to the necessity of implementing moral decisions in autonomous driving vehicles (ADVs). We conducted a set of experiments in which participants experienced modified trolley dilemmas as drivers in virtual reality environments. Participants had to make decisions between driving in one of two lanes where different obstacles came into view. Eventually, the participants had to decide which of the objects they would crash into. Obstacles included a variety of human-like avatars of different ages and group sizes. Furthermore, the influence of sidewalks as potential safe harbors and a condition implicating self-sacrifice were tested. Results showed that participants, in general, decided in a utilitarian manner, sparing the highest number of avatars possible with a limited influence by the other variables. Derived from these findings, which are in line with the utilitarian approach in moral decision making, it will be argued for an obligatory ethics setting implemented in ADVs.

Differences in Pattern and Driving Forces between Urban and Rural Settlements in the Coastal Region of Ningbo, China

Directory of Open Access Journals (Sweden)

Mingxing Chen

2014-04-01

Full Text Available Rapid urbanization on the coast of China has attracted much attention. The objective of this study was to explore the differences in dynamics and related driving forces between urban and rural settlements. Applying the quantitative method, we demonstrate that substantial heterogeneity in settlement growth, landscape pattern metrics, change, land sources and driving forces is exhibited across the different types of urban and rural settlements. The spatial growth of urban settlements is dominated by in situ expansion, while rural settlements tend to be scattered and shrinking rapidly. The sprawl of human settlements has mainly occupied farm land, but reclamation projects are increasingly becoming important land sources for urban settlements. Local government has played a critical role in urban settlements, while the expansion of rural settlements is mainly driven by individual choice and village collective organizations. Such differences may account for differential options for the management of human settlements scientifically.

Autonomous Vehicles: Disengagements, Accidents and Reaction Times.

Directory of Open Access Journals (Sweden)

Vinayak V Dixit

Full Text Available Autonomous vehicles are being viewed with scepticism in their ability to improve safety and the driving experience. A critical issue with automated driving at this stage of its development is that it is not yet reliable and safe. When automated driving fails, or is limited, the autonomous mode disengages and the drivers are expected to resume manual driving. For this transition to occur safely, it is imperative that drivers react in an appropriate and timely manner. Recent data released from the California trials provide compelling insights into the current factors influencing disengagements of autonomous mode. Here we show that the number of accidents observed has a significantly high correlation with the autonomous miles travelled. The reaction times to take control of the vehicle in the event of a disengagement was found to have a stable distribution across different companies at 0.83 seconds on average. However, there were differences observed in reaction times based on the type of disengagements, type of roadway and autonomous miles travelled. Lack of trust caused by the exposure to automated disengagements was found to increase the likelihood to take control of the vehicle manually. Further, with increased vehicle miles travelled the reaction times were found to increase, which suggests an increased level of trust with more vehicle miles travelled. We believe that this research would provide insurers, planners, traffic management officials and engineers fundamental insights into trust and reaction times that would help them design and engineer their systems.

Autonomous Vehicles: Disengagements, Accidents and Reaction Times.

Science.gov (United States)

Dixit, Vinayak V; Chand, Sai; Nair, Divya J

2016-01-01

Autonomous vehicles are being viewed with scepticism in their ability to improve safety and the driving experience. A critical issue with automated driving at this stage of its development is that it is not yet reliable and safe. When automated driving fails, or is limited, the autonomous mode disengages and the drivers are expected to resume manual driving. For this transition to occur safely, it is imperative that drivers react in an appropriate and timely manner. Recent data released from the California trials provide compelling insights into the current factors influencing disengagements of autonomous mode. Here we show that the number of accidents observed has a significantly high correlation with the autonomous miles travelled. The reaction times to take control of the vehicle in the event of a disengagement was found to have a stable distribution across different companies at 0.83 seconds on average. However, there were differences observed in reaction times based on the type of disengagements, type of roadway and autonomous miles travelled. Lack of trust caused by the exposure to automated disengagements was found to increase the likelihood to take control of the vehicle manually. Further, with increased vehicle miles travelled the reaction times were found to increase, which suggests an increased level of trust with more vehicle miles travelled. We believe that this research would provide insurers, planners, traffic management officials and engineers fundamental insights into trust and reaction times that would help them design and engineer their systems.

Autonomous Vehicles: Disengagements, Accidents and Reaction Times

Science.gov (United States)

Dixit, Vinayak V.; Chand, Sai; Nair, Divya J.

2016-01-01

Autonomous vehicles are being viewed with scepticism in their ability to improve safety and the driving experience. A critical issue with automated driving at this stage of its development is that it is not yet reliable and safe. When automated driving fails, or is limited, the autonomous mode disengages and the drivers are expected to resume manual driving. For this transition to occur safely, it is imperative that drivers react in an appropriate and timely manner. Recent data released from the California trials provide compelling insights into the current factors influencing disengagements of autonomous mode. Here we show that the number of accidents observed has a significantly high correlation with the autonomous miles travelled. The reaction times to take control of the vehicle in the event of a disengagement was found to have a stable distribution across different companies at 0.83 seconds on average. However, there were differences observed in reaction times based on the type of disengagements, type of roadway and autonomous miles travelled. Lack of trust caused by the exposure to automated disengagements was found to increase the likelihood to take control of the vehicle manually. Further, with increased vehicle miles travelled the reaction times were found to increase, which suggests an increased level of trust with more vehicle miles travelled. We believe that this research would provide insurers, planners, traffic management officials and engineers fundamental insights into trust and reaction times that would help them design and engineer their systems. PMID:27997566

Autonomous Docking Based on Infrared System for Electric Vehicle Charging in Urban Areas

Directory of Open Access Journals (Sweden)

Joshué Pérez

2013-02-01

Full Text Available Electric vehicles are progressively introduced in urban areas, because of their ability to reduce air pollution, fuel consumption and noise nuisance. Nowadays, some big cities are launching the first electric car-sharing projects to clear traffic jams and enhance urban mobility, as an alternative to the classic public transportation systems. However, there are still some problems to be solved related to energy storage, electric charging and autonomy. In this paper, we present an autonomous docking system for electric vehicles recharging based on an embarked infrared camera performing infrared beacons detection installed in the infrastructure. A visual servoing system coupled with an automatic controller allows the vehicle to dock accurately to the recharging booth in a street parking area. The results show good behavior of the implemented system, which is currently deployed as a real prototype system in the city of Paris.

Longitudinal Control for Mengshi Autonomous Vehicle via Cloud Model

Science.gov (United States)

Gao, H. B.; Zhang, X. Y.; Li, D. Y.; Liu, Y. C.

2018-03-01

Dynamic robustness and stability control is a requirement for self-driving of autonomous vehicle. Longitudinal control method of autonomous is a key technique which has drawn the attention of industry and academe. In this paper, we present a longitudinal control algorithm based on cloud model for Mengshi autonomous vehicle to ensure the dynamic stability and tracking performance of Mengshi autonomous vehicle. An experiments is applied to test the implementation of the longitudinal control algorithm. Empirical results show that if the longitudinal control algorithm based Gauss cloud model are applied to calculate the acceleration, and the vehicles drive at different speeds, a stable longitudinal control effect is achieved.

Automated driving and autonomous functions on road vehicles

Science.gov (United States)

Gordon, T. J.; Lidberg, M.

2015-07-01

In recent years, road vehicle automation has become an important and popular topic for research and development in both academic and industrial spheres. New developments have received extensive coverage in the popular press, and it may be said that the topic has captured the public imagination. Indeed, the topic has generated interest across a wide range of academic, industry and governmental communities, well beyond vehicle engineering; these include computer science, transportation, urban planning, legal, social science and psychology. While this follows a similar surge of interest - and subsequent hiatus - of Automated Highway Systems in the 1990s, the current level of interest is substantially greater, and current expectations are high. It is common to frame the new technologies under the banner of 'self-driving cars' - robotic systems potentially taking over the entire role of the human driver, a capability that does not fully exist at present. However, this single vision leads one to ignore the existing range of automated systems that are both feasible and useful. Recent developments are underpinned by substantial and long-term trends in 'computerisation' of the automobile, with developments in sensors, actuators and control technologies to spur the new developments in both industry and academia. In this paper, we review the evolution of the intelligent vehicle and the supporting technologies with a focus on the progress and key challenges for vehicle system dynamics. A number of relevant themes around driving automation are explored in this article, with special focus on those most relevant to the underlying vehicle system dynamics. One conclusion is that increased precision is needed in sensing and controlling vehicle motions, a trend that can mimic that of the aerospace industry, and similarly benefit from increased use of redundant by-wire actuators.

Longitudinal Control for Mengshi Autonomous Vehicle via Gauss Cloud Model

Directory of Open Access Journals (Sweden)

Hongbo Gao

2017-12-01

Full Text Available Dynamic robustness and stability control is a requirement for self-driving of autonomous vehicle. Longitudinal control technique of autonomous vehicle is basic theory and one key complex technique which must have the reliability and precision of vehicle controller. The longitudinal control technique is one of the foundations of the safety and stability of autonomous vehicle control. In our paper, we present a longitudinal control algorithm based on cloud model for Mengshi autonomous vehicle to ensure the dynamic stability and tracking performance of Mengshi autonomous vehicle. The longitudinal control algorithm mainly uses cloud model generator to control the acceleration of the autonomous vehicle to achieve the goal that controls the speed of Mengshi autonomous vehicle. The proposed longitudinal control algorithm based on cloud model is verified by real experiments on Highway driving scene. The experiments results of the acceleration and speed show that the algorithm is validity and stability.

Cyber Security Considerations for Autonomous Tactical Wheeled Vehicles

Science.gov (United States)

2016-04-01

Update Will Enable Autonomous Driving. Retrieved August 6, 2015, from http://spectrum.ieee.org/: http://spectrum.ieee.org/ cars -that-think...Cyber Security Considerations for Autonomous Tactical Wheeled Vehicles 1 UNCLASSIFIED Cyber Security Considerations for... Autonomous Tactical Wheeled Vehicles Sebastian C Iovannitti 4/1/2016 Submitted to Lawrence Technological University College of Management in

Autonomous Landing and Ingress of Micro-Air-Vehicles in Urban Environments Based on Monocular Vision

Science.gov (United States)

Brockers, Roland; Bouffard, Patrick; Ma, Jeremy; Matthies, Larry; Tomlin, Claire

2011-01-01

Unmanned micro air vehicles (MAVs) will play an important role in future reconnaissance and search and rescue applications. In order to conduct persistent surveillance and to conserve energy, MAVs need the ability to land, and they need the ability to enter (ingress) buildings and other structures to conduct reconnaissance. To be safe and practical under a wide range of environmental conditions, landing and ingress maneuvers must be autonomous, using real-time, onboard sensor feedback. To address these key behaviors, we present a novel method for vision-based autonomous MAV landing and ingress using a single camera for two urban scenarios: landing on an elevated surface, representative of a rooftop, and ingress through a rectangular opening, representative of a door or window. Real-world scenarios will not include special navigation markers, so we rely on tracking arbitrary scene features; however, we do currently exploit planarity of the scene. Our vision system uses a planar homography decomposition to detect navigation targets and to produce approach waypoints as inputs to the vehicle control algorithm. Scene perception, planning, and control run onboard in real-time; at present we obtain aircraft position knowledge from an external motion capture system, but we expect to replace this in the near future with a fully self-contained, onboard, vision-aided state estimation algorithm. We demonstrate autonomous vision-based landing and ingress target detection with two different quadrotor MAV platforms. To our knowledge, this is the first demonstration of onboard, vision-based autonomous landing and ingress algorithms that do not use special purpose scene markers to identify the destination.

Autonomous vehicles: from paradigms to technology

Science.gov (United States)

Ionita, Silviu

2017-10-01

Mobility is a basic necessity of contemporary society and it is a key factor in global economic development. The basic requirements for the transport of people and goods are: safety and duration of travel, but also a number of additional criteria are very important: energy saving, pollution, passenger comfort. Due to advances in hardware and software, automation has penetrated massively in transport systems both on infrastructure and on vehicles, but man is still the key element in vehicle driving. However, the classic concept of ‘human-in-the-loop’ in terms of ‘hands on’ in driving the cars is competing aside from the self-driving startups working towards so-called ‘Level 4 autonomy’, which is defined as “a self-driving system that does not requires human intervention in most scenarios”. In this paper, a conceptual synthesis of the autonomous vehicle issue is made in connection with the artificial intelligence paradigm. It presents a classification of the tasks that take place during the driving of the vehicle and its modeling from the perspective of traditional control engineering and artificial intelligence. The issue of autonomous vehicle management is addressed on three levels: navigation, movement in traffic, respectively effective maneuver and vehicle dynamics control. Each level is then described in terms of specific tasks, such as: route selection, planning and reconfiguration, recognition of traffic signs and reaction to signaling and traffic events, as well as control of effective speed, distance and direction. The approach will lead to a better understanding of the way technology is moving when talking about autonomous cars, smart/intelligent cars or intelligent transport systems. Keywords: self-driving vehicle, artificial intelligence, deep learning, intelligent transport systems.

Autonomous urban reconnaissance ingress system (AURIS): providing a tactically relevant autonomous door-opening kit for unmanned ground vehicles

Science.gov (United States)

Shane, David J.; Rufo, Michael A.; Berkemeier, Matthew D.; Alberts, Joel A.

2012-06-01

The Autonomous Urban Reconnaissance Ingress System (AURIS™) addresses a significant limitation of current military and first responder robotics technology: the inability of reconnaissance robots to open doors. Leveraging user testing as a baseline, the program has derived specifications necessary for military personnel to open doors with fielded UGVs (Unmanned Ground Vehicles), and evaluates the technology's impact on operational mission areas: duration, timing, and user patience in developing a tactically relevant, safe, and effective system. Funding is provided through the US ARMY Tank Automotive Research, Development and Engineering Center (TARDEC) and the project represents a leap forward in perception, autonomy, robotic implements, and coordinated payload operation in UGVs. This paper describes high level details of specification generation, status of the last phase of development, an advanced view of the system autonomy capability, and a short look ahead towards the ongoing work on this compelling and important technology.

Developing an Instrument to Measure Autonomous Adaptive Capacity to Climate Change among Urban Households

Directory of Open Access Journals (Sweden)

Kathryn R. Selm

2018-02-01

Full Text Available The capacity of households in urban environments to adapt and react to climate change can affect the resilience of the whole community, and instruments for systematically measuring that capacity are needed. We used Raleigh, NC as a case study to explore the dimensions of autonomous adaptive capacity of urban households and to create a scale and associated survey instrument to measure them. Our approach was guided by four capitals that support human livelihoods: social, human, physical, and financial. We surveyed 200 households in Raleigh, NC, and used a principal components analysis to test the scale and survey instrument. Results suggest the scale is a useful and concise tool. Three major dimensions were present among the scale items: financial capital, political awareness, and access to resources. Together, these three dimensions can be used to measure adaptive capacity among different households. These findings are supported by similar work illustrating the value of income inequality and political awareness as indicators of adaptive capacity. Our results also demonstrate that complex relationships among the livelihood capitals may confound our ability to measure financial, physical, and human capitals separately. This framework for assessing adaptive capacity of households, with further refinement and testing, may be used in urban areas to evaluate programs designed to impact resilience to climate change.

Sloped Terrain Segmentation for Autonomous Drive Using Sparse 3D Point Cloud

Directory of Open Access Journals (Sweden)

Seoungjae Cho

2014-01-01

Full Text Available A ubiquitous environment for road travel that uses wireless networks requires the minimization of data exchange between vehicles. An algorithm that can segment the ground in real time is necessary to obtain location data between vehicles simultaneously executing autonomous drive. This paper proposes a framework for segmenting the ground in real time using a sparse three-dimensional (3D point cloud acquired from undulating terrain. A sparse 3D point cloud can be acquired by scanning the geography using light detection and ranging (LiDAR sensors. For efficient ground segmentation, 3D point clouds are quantized in units of volume pixels (voxels and overlapping data is eliminated. We reduce nonoverlapping voxels to two dimensions by implementing a lowermost heightmap. The ground area is determined on the basis of the number of voxels in each voxel group. We execute ground segmentation in real time by proposing an approach to minimize the comparison between neighboring voxels. Furthermore, we experimentally verify that ground segmentation can be executed at about 19.31 ms per frame.

Temporal Dynamics of the Driving Factors of Urban Landscape Change of Addis Ababa During the Past Three Decades.

Science.gov (United States)

Zewdie, Meskerem; Worku, Hailu; Bantider, Amare

2018-01-01

Mapping and quantifying urban landscape dynamics and the underlying driving factors are crucial for devising appropriate policies, especially in cities of developing countries where the change is rapid. This study analyzed three decades (1984-2014) of land use land cover change of Addis Ababa using Landsat imagery and examined the underlying factors and their temporal dynamics through expert interview using Analytic Hierarchy Process (AHP). Classification results revealed that urban area increased by 50%, while agricultural land and forest decreased by 34 and 16%, respectively. The driving factors operated differently during the pre and post-1991 period. The year 1991 was chosen because it marked government change in the country resulting in policy change. Policy had the highest influence during the pre-1991 period. Land use change in this period was associated with the housing sector as policies and institutional setups were permissive to this sector. Population growth and in-migration were also important factors. Economic factors played significant role in the post-1991 period. The fact that urban land has a market value, the growth of private investment, and the speculated property market were among the economic factors. Policy reforms since 2003 were also influential to the change. Others such as accessibility, demography, and neighborhood factors were a response to economic factors. All the above-mentioned factors had vital role in shaping the urban pattern of the city. These findings can help planners and policymakers to better understand the dynamic relationship of urban land use and the driving factors to better manage the city.

Temporal Dynamics of the Driving Factors of Urban Landscape Change of Addis Ababa During the Past Three Decades

Science.gov (United States)

Zewdie, Meskerem; Worku, Hailu; Bantider, Amare

2018-01-01

Mapping and quantifying urban landscape dynamics and the underlying driving factors are crucial for devising appropriate policies, especially in cities of developing countries where the change is rapid. This study analyzed three decades (1984-2014) of land use land cover change of Addis Ababa using Landsat imagery and examined the underlying factors and their temporal dynamics through expert interview using Analytic Hierarchy Process (AHP). Classification results revealed that urban area increased by 50%, while agricultural land and forest decreased by 34 and 16%, respectively. The driving factors operated differently during the pre and post-1991 period. The year 1991 was chosen because it marked government change in the country resulting in policy change. Policy had the highest influence during the pre-1991 period. Land use change in this period was associated with the housing sector as policies and institutional setups were permissive to this sector. Population growth and in-migration were also important factors. Economic factors played significant role in the post-1991 period. The fact that urban land has a market value, the growth of private investment, and the speculated property market were among the economic factors. Policy reforms since 2003 were also influential to the change. Others such as accessibility, demography, and neighborhood factors were a response to economic factors. All the above-mentioned factors had vital role in shaping the urban pattern of the city. These findings can help planners and policymakers to better understand the dynamic relationship of urban land use and the driving factors to better manage the city.

Urban planning for autonomous vehicles

OpenAIRE

Fourie, Pieter J.; Ordoñez Medina, Sergio A.; Maheshwari, Tanvi; Wang, Biyu; Erath, Alexander; Cairns, Stephen; Axhausen, Kay W.

2018-01-01

In land-scarce Singapore, population growth and increasingly dense development are running up against limited remaining space for mobility infrastructure expansion. Autonomous Vehicles (AV) promise to relieve some of this pressure, through more efficient use of road space through platooning and intersection coordination, reducing the need for parking space, and reducing overall reliance on privately owned cars, realising Singapore’s vision of a “car-lite” future. In a collaborative resear...

Are autonomous cities our urban future?

Science.gov (United States)

Norman, Barbara

2018-05-29

Cities are rapidly expanding in size, wealth and power, with some now larger than nation states. Smart city solutions and strong global urban networks are developing to manage massive urban growth. However, cities exist within a wider system and it may take more than technological advances, innovation and city autonomy to develop a sustainable urban future.

Autonomous execution of the Precision Immobilization Technique

Science.gov (United States)

Mascareñas, David D. L.; Stull, Christopher J.; Farrar, Charles R.

2017-03-01

Over the course of the last decade great advances have been made in autonomously driving cars. The technology has advanced to the point that driverless car technology is currently being tested on publicly accessed roadways. The introduction of these technologies onto publicly accessed roadways not only raises questions of safety, but also security. Autonomously driving cars are inherently cyber-physical systems and as such will have novel security vulnerabilities that couple both the cyber aspects of the vehicle including the on-board computing and any network data it makes use of, with the physical nature of the vehicle including its sensors, actuators, and the vehicle chassis. Widespread implementation of driverless car technology will require that both the cyber, as well as physical security concerns surrounding these vehicles are addressed. In this work, we specifically developed a control policy to autonomously execute the Precision Immobilization Technique, a.k.a. the PIT maneuver. The PIT maneuver was originally developed by law enforcement to end high-speed vehicular pursuits in a quasi-safe manner. However, there is still a risk of damage/roll-over to both the vehicle executing the PIT maneuver as well as to the vehicle subject to the PIT maneuver. In law enforcement applications, it would be preferable to execute the PIT maneuver using an autonomous vehicle, thus removing the danger to law-enforcement officers. Furthermore, it is entirely possible that unscrupulous individuals could inject code into an autonomously-driving car to use the PIT maneuver to immobilize other vehicles while maintaining anonymity. For these reasons it is useful to know how the PIT maneuver can be implemented on an autonomous car. In this work a simple control policy based on velocity pursuit was developed to autonomously execute the PIT maneuver using only a vision and range measurements that are both commonly collected by contemporary driverless cars. The ability of this

Analysis of Vehicle Steering and Driving Bifurcation Characteristics

Directory of Open Access Journals (Sweden)

Xianbin Wang

2015-01-01

Full Text Available The typical method of vehicle steering bifurcation analysis is based on the nonlinear autonomous vehicle model deriving from the classic two degrees of freedom (2DOF linear vehicle model. This method usually neglects the driving effect on steering bifurcation characteristics. However, in the steering and driving combined conditions, the tyre under different driving conditions can provide different lateral force. The steering bifurcation mechanism without the driving effect is not able to fully reveal the vehicle steering and driving bifurcation characteristics. Aiming at the aforementioned problem, this paper analyzed the vehicle steering and driving bifurcation characteristics with the consideration of driving effect. Based on the 5DOF vehicle system dynamics model with the consideration of driving effect, the 7DOF autonomous system model was established. The vehicle steering and driving bifurcation dynamic characteristics were analyzed with different driving mode and driving torque. Taking the front-wheel-drive system as an example, the dynamic evolution process of steering and driving bifurcation was analyzed by phase space, system state variables, power spectral density, and Lyapunov index. The numerical recognition results of chaos were also provided. The research results show that the driving mode and driving torque have the obvious effect on steering and driving bifurcation characteristics.

Perception, Planning, Control, and Coordination for Autonomous Vehicles

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Scott Drew Pendleton

2017-02-01

Full Text Available Autonomous vehicles are expected to play a key role in the future of urban transportation systems, as they offer potential for additional safety, increased productivity, greater accessibility, better road efficiency, and positive impact on the environment. Research in autonomous systems has seen dramatic advances in recent years, due to the increases in available computing power and reduced cost in sensing and computing technologies, resulting in maturing technological readiness level of fully autonomous vehicles. The objective of this paper is to provide a general overview of the recent developments in the realm of autonomous vehicle software systems. Fundamental components of autonomous vehicle software are reviewed, and recent developments in each area are discussed.

Autonomous Operations System: Development and Application

Science.gov (United States)

Toro Medina, Jaime A.; Wilkins, Kim N.; Walker, Mark; Stahl, Gerald M.

2016-01-01

Autonomous control systems provides the ability of self-governance beyond the conventional control system. As the complexity of mechanical and electrical systems increases, there develops a natural drive for developing robust control systems to manage complicated operations. By closing the bridge between conventional automated systems to knowledge based self-awareness systems, nominal control of operations can evolve into relying on safe critical mitigation processes to support any off-nominal behavior. Current research and development efforts lead by the Autonomous Propellant Loading (APL) group at NASA Kennedy Space Center aims to improve cryogenic propellant transfer operations by developing an automated control and health monitoring system. As an integrated systems, the center aims to produce an Autonomous Operations System (AOS) capable of integrating health management operations with automated control to produce a fully autonomous system.

Autonomous cars and dynamic bottleneck congestion: The effects on capacity, value of time and preference heterogeneity

NARCIS (Netherlands)

van den Berg, V.A.C.; Verhoef, E.T.

2016-01-01

‘Autonomous cars’ are cars that can drive themselves without human control. Autonomous cars can safely drive closer together than cars driven by humans, thereby possibly increasing road capacity. By allowing drivers to perform other activities in the vehicle, they may reduce the value of travel time

Driving on urban roads: How we come to expect the 'correct' speed.

Science.gov (United States)

Charlton, Samuel G; Starkey, Nicola J

2017-11-01

The subjective categories that drivers use to distinguish between different road types have been shown to influence the speeds they choose to drive but as yet we do not understand the road features that drivers use to make their discriminations. To better understand how drivers describe and categorise the roads they drive, 55 participants were recruited to drive a video of familiar urban roads in a driving simulator at the speed they would drive these roads in their own cars (using the accelerator and brake pedal in the driving simulator to adjust their speed). The participants were then asked to sort photos of the roads they had just driven into piles so that their driving would be the same on all roads in one pile but different to the other piles. Finally, they answered a series of questions about each road to indicate what speed they would drive, the safe speed for the road, their speed limit belief as well as providing ratings of comfort, difficulty and familiarity. Overall, drivers' categorisation of roads was informed by a number of factors including speed limit belief, road features and markings (including medians), road width, and presence of houses, driveways and footpaths. The participants' categories were congruent with what they thought the speed limits were, but not necessarily the actual speed limits. Mismatches between actual speed limits and speed limit beliefs appeared to result from category-level expectations about speed limits that took precedence over recent experience in the simulator. Roads that historically had a 50km/h speed limit but had been reduced to 40km/h were still regarded as 50km/h roads by the participants, underscoring the point that simply posting a sign with a lower speed limit is not enough to overcome drivers' expectations and habits associated with the visual appearance of a road. The findings provided insights into how drivers view and categorise roads, and identify specific areas that could be used to improve speed limit

Change detection in urban and rural driving scenes: Effects of target type and safety relevance on change blindness.

Science.gov (United States)

Beanland, Vanessa; Filtness, Ashleigh J; Jeans, Rhiannon

2017-03-01

The ability to detect changes is crucial for safe driving. Previous research has demonstrated that drivers often experience change blindness, which refers to failed or delayed change detection. The current study explored how susceptibility to change blindness varies as a function of the driving environment, type of object changed, and safety relevance of the change. Twenty-six fully-licenced drivers completed a driving-related change detection task. Changes occurred to seven target objects (road signs, cars, motorcycles, traffic lights, pedestrians, animals, or roadside trees) across two environments (urban or rural). The contextual safety relevance of the change was systematically manipulated within each object category, ranging from high safety relevance (i.e., requiring a response by the driver) to low safety relevance (i.e., requiring no response). When viewing rural scenes, compared with urban scenes, participants were significantly faster and more accurate at detecting changes, and were less susceptible to "looked-but-failed-to-see" errors. Interestingly, safety relevance of the change differentially affected performance in urban and rural environments. In urban scenes, participants were more efficient at detecting changes with higher safety relevance, whereas in rural scenes the effect of safety relevance has marginal to no effect on change detection. Finally, even after accounting for safety relevance, change blindness varied significantly between target types. Overall the results suggest that drivers are less susceptible to change blindness for objects that are likely to change or move (e.g., traffic lights vs. road signs), and for moving objects that pose greater danger (e.g., wild animals vs. pedestrians). Copyright © 2017 Elsevier Ltd. All rights reserved.

Sensitivity analysis of an optimization-based trajectory planner for autonomous vehicles in urban environments

Science.gov (United States)

Hardy, Jason; Campbell, Mark; Miller, Isaac; Schimpf, Brian

2008-10-01

The local path planner implemented on Cornell's 2007 DARPA Urban Challenge entry vehicle Skynet utilizes a novel mixture of discrete and continuous path planning steps to facilitate a safe, smooth, and human-like driving behavior. The planner first solves for a feasible path through the local obstacle map using a grid based search algorithm. The resulting path is then refined using a cost-based nonlinear optimization routine with both hard and soft constraints. The behavior of this optimization is influenced by tunable weighting parameters which govern the relative cost contributions assigned to different path characteristics. This paper studies the sensitivity of the vehicle's performance to these path planner weighting parameters using a data driven simulation based on logged data from the National Qualifying Event. The performance of the path planner in both the National Qualifying Event and in the Urban Challenge is also presented and analyzed.

Models Supporting Trajectory Planning in Autonomous Vehicles

OpenAIRE

Ward, Erik

2018-01-01

Autonomous vehicles have the potential to drastically improve the safety, efficiency and cost of transportation. Instead of a driver, an autonomous vehicle is controlled by an algorithm, offering improved consistency and the potential to eliminate human error from driving: by far the most common cause of accidents. Data collected from different types of sensors, along with prior information such as maps, are used to build models of the surrounding traffic scene, encoding relevant aspects of t...

Do We Blindly Trust Self-Driving Cars

DEFF Research Database (Denmark)

Egedal Andersen, Kamilla; Köslich, Simon; Pedersen, Bjarke Maigaard Kjær

2017-01-01

- to-day activities, such as driving a car, we carried out a series of experiments with an autonomous car simulator. Partici- pants (N=73) engaged in a scenario with no, correct or false audible information regarding the state of traffic around the self-driving vehicle, and were told they could assume...

URBAN SELF-ORGANISATION IN DEPRIVED NEIGHBORHOODS: POSSIBILITIES AND LIMITS OF AUTONOMOUS COLLECTIVE ARTICULATION IN SALVADOR DA BAHIA

Directory of Open Access Journals (Sweden)

Katja Hölldampf

2013-07-01

Full Text Available From a comparative point of view, the given article is concerned with the possibilities and restrictions of urban self-organization within city’s neighbourhoods. Drawing upon a qualitative comparison between the case studies Alto de Ondina and Alto da Sereia – two disadvantaged urban neighbourhoods in the southern city centre of Salvador da Bahia (Brazil – and considering the conditional framework of daily life there, the idiographic context conditions that foster and alternatively impede self-organization are to be developed on data drawn from empirical surveys. Here, the data-led interpretations reach beyond the local and regional context and offer fundamental insights into auto-centered and autonomous acts of articulation. In Brazil, participative planning processes have been the common sense for urban governance. However, participative strategies tend to stand under the sign of codetermination, whereas the principles of self-determination and auto-centered articulation of collective interests are immantently present during processes of civic self-organization. Due to the fact that self-organized communities do not fall within a defined institutional framework or existing system, they are capable to articulate their needs and interests collectively. The underlying concept of “Agora Governance” in accordance with Korff & Rothfuss (2009 offers the possibility to stimulate urban management processes in a sustainable way, bringing together the civic perspective of the “human city” and the expert perspective of the “infrastructural city” into a consensual but often highly disputed negotiation process.

Experimental Autonomous Road Vehicle with Logical Artificial Intelligence

OpenAIRE

Sergey Sergeevich Shadrin; Oleg Olegovich Varlamov; Andrey Mikhailovich Ivanov

2017-01-01

This article describes some technical issues regarding the adaptation of a production car to a platform for the development and testing of autonomous driving technologies. A universal approach to performing the reverse engineering of electric power steering (EPS) for the purpose of external control is also presented. The primary objective of the related study was to solve the problem associated with the precise prediction of the dynamic trajectory of an autonomous vehicle. This was accomplish...

Current challenges in autonomous vehicle development

Science.gov (United States)

Connelly, J.; Hong, W. S.; Mahoney, R. B., Jr.; Sparrow, D. A.

2006-05-01

The field of autonomous vehicles is a rapidly growing one, with significant interest from both government and industry sectors. Autonomous vehicles represent the intersection of artificial intelligence (AI) and robotics, combining decision-making with real-time control. Autonomous vehicles are desired for use in search and rescue, urban reconnaissance, mine detonation, supply convoys, and more. The general adage is to use robots for anything dull, dirty, dangerous or dumb. While a great deal of research has been done on autonomous systems, there are only a handful of fielded examples incorporating machine autonomy beyond the level of teleoperation, especially in outdoor/complex environments. In an attempt to assess and understand the current state of the art in autonomous vehicle development, a few areas where unsolved problems remain became clear. This paper outlines those areas and provides suggestions for the focus of science and technology research. The first step in evaluating the current state of autonomous vehicle development was to develop a definition of autonomy. A number of autonomy level classification systems were reviewed. The resulting working definitions and classification schemes used by the authors are summarized in the opening sections of the paper. The remainder of the report discusses current approaches and challenges in decision-making and real-time control for autonomous vehicles. Suggested research focus areas for near-, mid-, and long-term development are also presented.

How much can you drink before driving? The influence of riding with impaired adults and peers on the driving behaviors of urban and rural youth.

Science.gov (United States)

Leadbeater, Bonnie J; Foran, Kathleen; Grove-White, Aidan

2008-04-01

Following an ecological model to specify risks for impaired driving, we assessed the effects of youth attitudes about substance use and their experiences of riding in cars with adults and peers who drove after drinking alcohol or smoking cannabis on the youths' own driving after drinking or using cannabis. Participants were 2594 students in grades 10 and 12 (mean age = 16 years and 2 months; 50% girls) from public high schools in urban (994) and rural communities (1600) on Vancouver Island in British Columbia, Canada; 1192 of these were new drivers with restricted licenses. Self-report data were collected in anonymous questionnaires. Regression analyses were used to assess the independent and interacting effects of youth attitudes about substance use and their experiences of riding in cars with adults or peers who drove after drinking alcohol or smoking cannabis on youth driving. Youth driving risk behaviors were associated independently with their own high-risk attitudes and experiences riding with peers who drink alcohol or use cannabis and drive. However, risks were highest for the youth who also report more frequent experiences of riding with adults who drink alcohol or use cannabis and drive. Prevention efforts should be expanded to include the adults and peers who are role models for new drivers and to increase youths' awareness of their own responsibilities for their personal safety as passengers.

More Effective Use of Urban Space by Autonomous Double Parking

Directory of Open Access Journals (Sweden)

Rafael Estepa

2017-01-01

Full Text Available The new capabilities of autonomous cars can be used to mitigate to a large extent safety concerns and nuisance traditionally associated with double parking. In this paper double parking for autonomous cars is proposed as a new approach to temporarily increase parking capacity in locations in clear need for extra provision when best alternatives cannot be found. The basic requirements, operation, and procedures of the proposed solution are outlined. A curbside parking has been simulated implementing the suggested double parking operation and important advantages have been identified for drivers, the environment, and the city. Double parking can increase over 50% the parking capacity of a given area. Autonomous car owners would (at least double their probabilities of finding parking compared to traditional drivers, saving cruising time and emissions. However, significant work and technological advances are still needed in order to make this feasible in the near future.

Intelligent autonomous systems 12. Vol. 2. Proceedings

Energy Technology Data Exchange (ETDEWEB)

Lee, Sukhan [Sungkyunkwan Univ., Gyeonggi-Do (Korea, Republic of). College of Information and Communication Engineering; Yoon, Kwang-Joon [Konkuk Univ., Seoul (Korea, Republic of); Cho, Hyungsuck [Daegu Gyeongbuk Institute of Science and Technology, Daegu (Korea, Republic of); Lee, Jangmyung (eds.) [Pusan National Univ. (Korea, Republic of). Dept. of Electronics Engineering

2013-02-01

Recent research in Intelligent and Autonomous Systems. Volume 2 of the proceedings of the 12th International Conference IAS-12, held June 26-29, 2012, jeju Island, Korea. Written by leading experts in the field. Intelligent autonomous systems are emerged as a key enabler for the creation of a new paradigm of services to humankind, as seen by the recent advancement of autonomous cars licensed for driving in our streets, of unmanned aerial and underwater vehicles carrying out hazardous tasks on-site, and of space robots engaged in scientific as well as operational missions, to list only a few. This book aims at serving the researchers and practitioners in related fields with a timely dissemination of the recent progress on intelligent autonomous systems, based on a collection of papers presented at the 12th International Conference on Intelligent Autonomous Systems, held in Jeju, Korea, June 26-29, 2012. With the theme of ''Intelligence and Autonomy for the Service to Humankind, the conference has covered such diverse areas as autonomous ground, aerial, and underwater vehicles, intelligent transportation systems, personal/domestic service robots, professional service robots for surgery/rehabilitation, rescue/security and space applications, and intelligent autonomous systems for manufacturing and healthcare. This volume 2 includes contributions devoted to Service Robotics and Human-Robot Interaction and Autonomous Multi-Agent Systems and Life Engineering.

12th International Conference on Intelligent Autonomous Systems

CERN Document Server

Cho, Hyungsuck; Yoon, Kwang-Joon; Lee, Jangmyung

2013-01-01

Intelligent autonomous systems are emerged as a key enabler for the creation of a new paradigm of services to humankind, as seen by the recent advancement of autonomous cars licensed for driving in our streets, of unmanned aerial and underwater vehicles carrying out hazardous tasks on-site, and of space robots engaged in scientific as well as operational missions, to list only a few. This book aims at serving the researchers and practitioners in related fields with a timely dissemination of the recent progress on intelligent autonomous systems, based on a collection of papers presented at the 12th International Conference on Intelligent Autonomous Systems, held in Jeju, Korea, June 26-29, 2012. With the theme of “Intelligence and Autonomy for the Service to Humankind, the conference has covered such diverse areas as autonomous ground, aerial, and underwater vehicles, intelligent transportation systems, personal/domestic service robots, professional service robots for surgery/rehabilitation, rescue/security ...

Analysis of Urban-Rural Land-Use Change during 1995-2006 and Its Policy Dimensional Driving Forces in Chongqing, China

Directory of Open Access Journals (Sweden)

Guihua Dong

2008-02-01

Full Text Available This paper analyzes the urban-rural land-use change of Chongqing and its policydimensional driving forces from 1995 to 2006, using high-resolution Landsat TM(Thematic Mapper data of 1995, 2000 and 2006, and socio-economic data from bothresearch institutes and government departments. The outcomes indicated that urban-ruralland-use change in Chongqing can be characterized by two major trends: First, thenon-agricultural land increased substantially from 1995 to 2006, thus causing agriculturalland especially farmland to decrease continuously. Second, the aggregation index of urbansettlements and rural settlements shows that local urban-rural development experienced aprocess of changing from aggregation (1995-2000 to decentralization (2000-2006.Chongqing is a special area getting immersed in many important policies, which includethe establishment of the municipality directly under the Central Government, the buildingof Three Gorges Dam Project, the Western China Development Program and theGrain-for-Green Programme, and bring about tremendous influences on its land-usechange. By analyzing Chongqing’s land-use change and its policy driving forces, someimplications for its new policy of ‘Urban-rural Integrated Reform’ are obtained. That ismore attentions need to be paid to curbing excessive and idle rural housing andconsolidating rural construction land, and to laying out a scientific land-use plan for its rural areas taking such rural land-use issues as farmland occupation and rural housing landmanagement into accounts, so as to coordinate and balance the urban-rural development.

Autonomous E-Mobility as a Service - Final Report

OpenAIRE

Pitera, Kelly; Marinelli, Giuseppe

2017-01-01

Mobility as a Service (MaaS) is a systems-oriented approach of integration of numerous transport services into a single, seamless mobility service using a technology platform. Building on MaaS to incorporate both electric and autonomous mobility, the concept of Autonomous E-Mobility as a Service (AE-MaaS) is examined within this project as a way to improve the environmental sustainability of urban mobility. Through a series of workshops and meetings, the aim was to understand the feasibility ...

Autonomous Driving – a Challenge for the Automotive Industry

OpenAIRE

Bardt, Hubertus

2017-01-01

The automotive industry is one of the most important industries in Europe. This industry is responsible for 14% of total production and capital investment in the European manufacturing sector, and in Germany the share amounts to 22%. Structural change within this crucial sector is of relevance for the whole economy. Along with alternative propulsion systems such as electromobility, (semi-)autonomous vehicles are one of the big trends in the automotive industry. For established providers, the ...

Neural network regulation driven by autonomous neural firings

Science.gov (United States)

Cho, Myoung Won

2016-07-01

Biological neurons naturally fire spontaneously due to the existence of a noisy current. Such autonomous firings may provide a driving force for network formation because synaptic connections can be modified due to neural firings. Here, we study the effect of autonomous firings on network formation. For the temporally asymmetric Hebbian learning, bidirectional connections lose their balance easily and become unidirectional ones. Defining the difference between reciprocal connections as new variables, we could express the learning dynamics as if Ising model spins interact with each other in magnetism. We present a theoretical method to estimate the interaction between the new variables in a neural system. We apply the method to some network systems and find some tendencies of autonomous neural network regulation.

Materials learning from life: concepts for active, adaptive and autonomous molecular systems.

Science.gov (United States)

Merindol, Rémi; Walther, Andreas

2017-09-18

Bioinspired out-of-equilibrium systems will set the scene for the next generation of molecular materials with active, adaptive, autonomous, emergent and intelligent behavior. Indeed life provides the best demonstrations of complex and functional out-of-equilibrium systems: cells keep track of time, communicate, move, adapt, evolve and replicate continuously. Stirred by the understanding of biological principles, artificial out-of-equilibrium systems are emerging in many fields of soft matter science. Here we put in perspective the molecular mechanisms driving biological functions with the ones driving synthetic molecular systems. Focusing on principles that enable new levels of functionalities (temporal control, autonomous structures, motion and work generation, information processing) rather than on specific material classes, we outline key cross-disciplinary concepts that emerge in this challenging field. Ultimately, the goal is to inspire and support new generations of autonomous and adaptive molecular devices fueled by self-regulating chemistry.

Terpsichore. ENEA's autonomous robotics project; Progetto Tersycore, la robotica autonoma

Energy Technology Data Exchange (ETDEWEB)

Taraglio, S; Zanela, S; Santini, A; Nanni, V [ENEA, Centro Ricerche Casaccia, Rome (Italy). Div. Robotica e Informatica Avanzata

1999-10-01

The article presents some of the Terpsichore project's results aimed to developed and test algorithms and applications for autonomous robotics. Four applications are described: dynamic mapping of a building's interior through the use of ultrasonic sensors; visual drive of an autonomous robot via a neural network controller; a neural network-based stereo vision system that steers a robot through unknown indoor environments; and the evolution of intelligent behaviours via the genetic algorithm approach.

Commande et planification de trajectoires pour la navigation de véhicules autonomes

OpenAIRE

Tagne Fokam , Gilles

2014-01-01

My research focuses on trajectory planning and control of autonomous vehicles. This work is a part of an extremely ambitious project launched by the Heudiasyc laboratory about autonomous driving at high speed (longitudinal speed greater to 5m/s ~= 18 km/h). With regard to the control of autonomous vehicles at high speed, a lateral controler using higher-order sliding mode control is proposed. Given the implicit similarity between the sliding mode and the principle of immersion and invariance,...

Assessment of the cardiovascular and gastrointestinal autonomic complications of diabetes

DEFF Research Database (Denmark)

Brock, Christina; Brock, Birgitte; Pedersen, Anne Grave

2016-01-01

The global prevalence of diabetes mellitus is increasing; arguably as a consequence of changes in diet, lifestyle and the trend towards urbanization. Unsurprisingly, the incidence of both micro and macrovascular complications of diabetes mirrors this increasing prevalence. Amongst the complications...... with the highest symptom burden, yet frequently under-diagnosed and sub-optimally treated, is diabetic autonomic neuropathy, itself potentially resulting in cardiovascular autonomic neuropathy and gastrointestinal (GI) tract dysmotility. The aims of this review are fourfold. Firstly to provide an overview...... of the pathophysiological processes that cause diabetic autonomic neuropathy. Secondly, to discuss both the established and emerging cardiometric methods for evaluating autonomic nervous system function in vivo. Thirdly, to examine the tools for assessing pan-GI and segmental motility and finally, we will provide...

Anticipatory Driving for a Robot-Car Based on Supervised Learning

DEFF Research Database (Denmark)

Markelic, I.; Kulvicius, Tomas; Tamosiunaite, M.

2009-01-01

Using look ahead information and plan making improves hu- man driving. We therefore propose that also autonomously driving systems should dispose over such abilities. We adapt a machine learning approach, where the system, a car-like robot, is trained by an experienced driver by correlating visual...

Revealing the Driving Forces of Mid-Cities Urban Growth Patterns Using Spatial Modeling: a Case Study of Los Ángeles, Chile

Directory of Open Access Journals (Sweden)

Mauricio I. Aguayo

2007-06-01

Full Text Available City growth and changes in land-use patterns cause various important social and environmental impacts. To understand the spatial and temporal dynamics of these processes, the factors that drive urban development must be identified and analyzed, especially those factors that can be used to predict future changes and their potential environmental effects. Our objectives were to quantify the relationship between urban growth and its driving forces and to predict the spatial growth pattern based on historical land-use changes for the city of Los Ángeles in central Chile. This involved the analysis of images from 1978, 1992, and 1998 and characterization of the spatial pattern of land-use change; the construction of digital coverage in GIS; the selection of predictive variables through univariate analysis; the construction of logistic regression models using growth vs. nongrowth for 1978-1992 as the dependent variable; and the prediction of the probability of land-use change by applying the regression model to the 1992-1998 period. To investigate the influence of spatial scale, we constructed several sets of models that contained (1 only distance variables, e.g., distance to highways; (2 only scale-dependent density variables, e.g., density of urban area within a 600-m radius; (3 both distance and density variables; and (4 both distance and density variables at several spatial scales. The environmental variables were included in all models. The combination of distance and density variables at several scales is required to appropriately capture the multiscale urban growth process. The best models correctly predict ~90% of the observed land-use changes for 1992-1998. The distance to access roads, densities of the urban road system and urbanized area at various scales, and soil type were the strongest predictors of the growth pattern. Other variables were less important or not significant in explaining the urban growth process. Our approach, which

Highly Skilled Autonomous Vehicles

OpenAIRE

Manuel Acosta Reche; Stratis Kanarachos; Mike V Blundell

2017-01-01

Recent research suggests that collision mitigation on low grip surfaces might require autonomous vehicles to execute maneuvers such as drift, trail braking or Scandinavian flick. In order to achieve this it is necessary to perceive the vehicle states and their interaction with the environment, and use this information to determine the chassis limits. A first look at the virtual automotive sensing problem is provided, followed by a description of Rally driving modeling approaches. Finally, a c...

Experimental Autonomous Road Vehicle with Logical Artificial Intelligence

Directory of Open Access Journals (Sweden)

Sergey Sergeevich Shadrin

2017-01-01

Full Text Available This article describes some technical issues regarding the adaptation of a production car to a platform for the development and testing of autonomous driving technologies. A universal approach to performing the reverse engineering of electric power steering (EPS for the purpose of external control is also presented. The primary objective of the related study was to solve the problem associated with the precise prediction of the dynamic trajectory of an autonomous vehicle. This was accomplished by deriving a new equation for determining the lateral tire forces and adjusting some of the vehicle parameters under road test conductions. A Mivar expert system was also integrated into the control system of the experimental autonomous vehicle. The expert system was made more flexible and effective for the present application by the introduction of hybrid artificial intelligence with logical reasoning. The innovation offers a solution to the major problem of liability in the event of an autonomous transport vehicle being involved in a collision.

Brain Inspired Cognitive Model with Attention for Self-Driving Cars

OpenAIRE

Chen, Shitao; Zhang, Songyi; Shang, Jinghao; Chen, Badong; Zheng, Nanning

2017-01-01

Perception-driven approach and end-to-end system are two major vision-based frameworks for self-driving cars. However, it is difficult to introduce attention and historical information of autonomous driving process, which are the essential factors for achieving human-like driving into these two methods. In this paper, we propose a novel model for self-driving cars named brain-inspired cognitive model with attention (CMA). This model consists of three parts: a convolutional neural network for ...

Radionuclide power source for artificial heart autonomic apparatus

Energy Technology Data Exchange (ETDEWEB)

Lazarenko, Yu V; Gusev, V V; Pustovalov, A A

1988-02-01

Works on creating autonomous artificial heart devices with radionuclide heat source are described. Calculated and experimental parameters of /sup 238/Pu base radionuclide thermoelectric RITEG generators designed for supplying perspective blood pump electric drives are presented. RITEG structure is described and the prospects of increasing its efficiency are shown.

Simulation of the target-oriented driving of an autonomous vehicle in a labyrinthic environment by means of the KISMET software package

International Nuclear Information System (INIS)

Knueppel, H.; Kuehnapfel, U.; Smidt, D.

1991-10-01

By using the special capabilities of the KISMET software-package and hardware for geometric operations and graphical presentation, an algorithm for the collision-free target-oriented driving of an autonomous vehicle was developed, implemented and linked to KISMET. The algorithm employs a simple global route-planner. It creates the global path neglecting the finite vehicle dimensions as input to the sensor-based local route-planner. The local planner for each time step transforms the sensor pattern, received by a number of ultrasonic sensors, to the movement-pattern. The target oriented global information influences the local operations. Some examples and a video demonstrate, the target will be reached collision free and close to the shortest path even in a labyrinthic environment. (orig.) [de

Game Theoretic Analysis of Road User Safety Scenarios Involving Autonomous Vehicles

OpenAIRE

Michieli, Umberto; Badia, Leonardo

2018-01-01

Interactions between pedestrians, bikers, and human-driven vehicles have been a major concern in traffic safety over the years. The upcoming age of autonomous vehicles will further raise major problems on whether self-driving cars can accurately avoid accidents; on the other hand, usability issues arise on whether human-driven cars and pedestrian can dominate the road at the expense of the autonomous vehicles which will be programmed to avoid accidents. This paper proposes some game theoretic...

DeepTest: Automated Testing of Deep-Neural-Network-driven Autonomous Cars

OpenAIRE

Tian, Yuchi; Pei, Kexin; Jana, Suman; Ray, Baishakhi

2017-01-01

Recent advances in Deep Neural Networks (DNNs) have led to the development of DNN-driven autonomous cars that, using sensors like camera, LiDAR, etc., can drive without any human intervention. Most major manufacturers including Tesla, GM, Ford, BMW, and Waymo/Google are working on building and testing different types of autonomous vehicles. The lawmakers of several US states including California, Texas, and New York have passed new legislation to fast-track the process of testing and deployme...

Speech Auditory Alerts Promote Memory for Alerted Events in a Video-Simulated Self-Driving Car Ride.

Science.gov (United States)

Nees, Michael A; Helbein, Benji; Porter, Anna

2016-05-01

Auditory displays could be essential to helping drivers maintain situation awareness in autonomous vehicles, but to date, few or no studies have examined the effectiveness of different types of auditory displays for this application scenario. Recent advances in the development of autonomous vehicles (i.e., self-driving cars) have suggested that widespread automation of driving may be tenable in the near future. Drivers may be required to monitor the status of automation programs and vehicle conditions as they engage in secondary leisure or work tasks (entertainment, communication, etc.) in autonomous vehicles. An experiment compared memory for alerted events-a component of Level 1 situation awareness-using speech alerts, auditory icons, and a visual control condition during a video-simulated self-driving car ride with a visual secondary task. The alerts gave information about the vehicle's operating status and the driving scenario. Speech alerts resulted in better memory for alerted events. Both auditory display types resulted in less perceived effort devoted toward the study tasks but also greater perceived annoyance with the alerts. Speech auditory displays promoted Level 1 situation awareness during a simulation of a ride in a self-driving vehicle under routine conditions, but annoyance remains a concern with auditory displays. Speech auditory displays showed promise as a means of increasing Level 1 situation awareness of routine scenarios during an autonomous vehicle ride with an unrelated secondary task. © 2016, Human Factors and Ergonomics Society.

Autonomous intelligent cruise control (AICC) - a major contribution to the enhancement of comfort and active driving safety; Autonome Intelligente Geschwindigkeitsregelung (AICC) - ein Beitrag zur Steigerung des Komforts und der aktiven Fahrsicherheit

Energy Technology Data Exchange (ETDEWEB)

Dorissen, H.T.; Hoever, N.

1996-07-01

Within the framework of the PROMETHEUS-Project research and development work on different systems has been carried out to improve traffic efficiency, environment and safety. The Autonomous Intelligent Cruise Control has emerged as one of the projects with the brightest future. In contrast to conventional cruise control systems, the AICC system controls not only the speed of the vehicle, but also its distance to vehicles ahead. In practice this means that the driver is additionally supported by the automatic variation of the set vehicle speed according to traffic conditions. This results in a major improvement in driving comfort as well as in traffic safety. In this article, Hella describes the principal technical facts and also highlights the advantages and possible applications of the first generation of AICC. (orig.) [Deutsch] Im Rahmen des PROMETHEUS-Projektes sind unterschiedliche Systeme erforscht und entwickelt worden, um den Verkehr sicherer, umweltfreundlicher und effizienter zu gestalten. Der `Autonome Intelligente Geschwindigkeitsregler` ist hieraus als eines der zukunftstraechtigsten Projekte hervorgegangen. Ein AICC-System regelt die Geschwindigkeit sowie den Abstand zu einem vorausfahrenden Fahrzeug. Im Vergleich zum konventionellen Geschwindigkeitsregler wird der Fahrer zusaetzlich durch die automatische Anpassung der Sollgeschwindigkeit an die gegebene Verkehrssituation unterstuetzt. Dies ermoeglicht eine entsprechende Verbesserung des Fahrkomforts und letztendlich auch der Verkehrssicherheit. In diesem Beitrag zeigt Hella neben den grundsaetzlichen technischen Zusammenhaengen eine moegliche Realisierung, die Vorteile und den Nutzen fuer ein AICC-System der ersten Generation auf. (orig.)

Perceptions of autonomous vehicles: Relationships with road users, risk, gender and age

OpenAIRE

Hulse, Lynn M.; Xie, Hui; Galea, Edwin R.

2018-01-01

Fully automated self-driving cars, with expected benefits including improved road safety, are closer to becoming a reality. Thus, attention has turned to gauging public perceptions of these autonomous vehicles. To date, surveys have focused on the public as potential passengers of autonomous cars, overlooking other road users who would interact with them. Comparisons with perceptions of other existing vehicles are also lacking. This study surveyed almost 1000 participants on their perceptions...

Effects of chewing gum on driving performance as evaluated by the STISIM driving simulator

OpenAIRE

Yoo, Ingyu; Kim, Eun-Joo; Lee, Joo-Hyun

2015-01-01

[Purpose] The purpose of this study was to determine the effects of chewing gum on driving performance in a driving simulator. [Subjects] In total, 26 young licensed drivers participated. [Methods] The driving scenario was typical of an urban environment: a single-carriageway, two-way road consisting of a mix of curved and straight sections, with considerable levels of traffic, pedestrians, and parked cars. Mean distance driven above the speed limit, lane position, mean distance driven across...

GPS/DR Error Estimation for Autonomous Vehicle Localization.

Science.gov (United States)

Lee, Byung-Hyun; Song, Jong-Hwa; Im, Jun-Hyuck; Im, Sung-Hyuck; Heo, Moon-Beom; Jee, Gyu-In

2015-08-21

Autonomous vehicles require highly reliable navigation capabilities. For example, a lane-following method cannot be applied in an intersection without lanes, and since typical lane detection is performed using a straight-line model, errors can occur when the lateral distance is estimated in curved sections due to a model mismatch. Therefore, this paper proposes a localization method that uses GPS/DR error estimation based on a lane detection method with curved lane models, stop line detection, and curve matching in order to improve the performance during waypoint following procedures. The advantage of using the proposed method is that position information can be provided for autonomous driving through intersections, in sections with sharp curves, and in curved sections following a straight section. The proposed method was applied in autonomous vehicles at an experimental site to evaluate its performance, and the results indicate that the positioning achieved accuracy at the sub-meter level.

Autonomous mobile robot localization using Kalman filter

Directory of Open Access Journals (Sweden)

Mohd Nasir Nabil Zhafri

2017-01-01

Full Text Available Autonomous mobile robot field has gain interest among researchers in recent years. The ability of a mobile robot to locate its current position and surrounding environment is the fundamental in order for it to operate autonomously, which commonly known as localization. Localization of mobile robot are commonly affected by the inaccuracy of the sensors. These inaccuracies are caused by various factors which includes internal interferences of the sensor and external environment noises. In order to overcome these noises, a filtering method is required in order to improve the mobile robot’s localization. In this research, a 2- wheeled-drive (2WD mobile robot will be used as platform. The odometers, inertial measurement unit (IMU, and ultrasonic sensors are used for data collection. Data collected is processed using Kalman filter to predict and correct the error from these sensors reading. The differential drive model and measurement model which estimates the environmental noises and predict a correction are used in this research. Based on the simulation and experimental results, the x, y and heading was corrected by converging the error to10 mm, 10 mm and 0.06 rad respectively.

Space imaging infrared optical guidance for autonomous ground vehicle

Science.gov (United States)

Akiyama, Akira; Kobayashi, Nobuaki; Mutoh, Eiichiro; Kumagai, Hideo; Yamada, Hirofumi; Ishii, Hiromitsu

2008-08-01

We have developed the Space Imaging Infrared Optical Guidance for Autonomous Ground Vehicle based on the uncooled infrared camera and focusing technique to detect the objects to be evaded and to set the drive path. For this purpose we made servomotor drive system to control the focus function of the infrared camera lens. To determine the best focus position we use the auto focus image processing of Daubechies wavelet transform technique with 4 terms. From the determined best focus position we transformed it to the distance of the object. We made the aluminum frame ground vehicle to mount the auto focus infrared unit. Its size is 900mm long and 800mm wide. This vehicle mounted Ackerman front steering system and the rear motor drive system. To confirm the guidance ability of the Space Imaging Infrared Optical Guidance for Autonomous Ground Vehicle we had the experiments for the detection ability of the infrared auto focus unit to the actual car on the road and the roadside wall. As a result the auto focus image processing based on the Daubechies wavelet transform technique detects the best focus image clearly and give the depth of the object from the infrared camera unit.

Terpsichore. ENEA's autonomous robotics project; Progetto Tersycore, la robotica autonoma

Energy Technology Data Exchange (ETDEWEB)

Taraglio, S.; Zanela, S.; Santini, A.; Nanni, V. [ENEA, Centro Ricerche Casaccia, Rome (Italy). Div. Robotica e Informatica Avanzata

1999-10-01

The article presents some of the Terpsichore project's results aimed to developed and test algorithms and applications for autonomous robotics. Four applications are described: dynamic mapping of a building's interior through the use of ultrasonic sensors; visual drive of an autonomous robot via a neural network controller; a neural network-based stereo vision system that steers a robot through unknown indoor environments; and the evolution of intelligent behaviours via the genetic algorithm approach.

Functional brain mapping of actual car-driving using [18F]FDG-PET

International Nuclear Information System (INIS)

Jeong, M.; Tashiro, Manabu; Singh, L.N.

2006-01-01

This study aims at identifying the brain activation during actual car-driving on the road, and at comparing the results to those of previous studies on simulated car-driving. Thirty normal volunteers, aged 20 to 56 years, were divided into three subgroups, active driving, passive driving and control groups, for examination by positron emission tomography (PET) and [ 18 F]2-deoxy-2-fluoro-D-glucose (FDG). The active driving subjects (n=10) drove for 30 minutes on quiet normal roads with a few traffic signals. The passive driving subjects (n=10) participated as passengers on the front seat. The control subjects (n=10) remained seated in a lit room with their eyes open. Voxel-based t-statistics were applied using SPM2 to search brain activation among the subgroups mentioned above. Significant brain activation was detected during active driving in the primary and secondary visual cortices, primary sensorimotor areas, premotor area, parietal association area, cingulate gyms, the parahippocampal gyrus as well as in thalamus and cerebellum. The passive driving manifested a similar-looking activation pattern, lacking activations in the premotor area, cingulate and parahippocampal gyri and thalamus. Direct comparison of the active and passive driving conditions revealed activation in the cerebellum. The result of actual driving looked similar to that of simulated driving, suggesting that visual perception and visuomotor coordination were the main brain functions while driving. In terms of attention and autonomic arousal, however, it seems there was a significant difference between simulated and actual driving possibly due to risk of accidents. Autonomic and emotional aspects of driving should be studied using an actual driving study-design. (author)

Functional brain mapping of actual car-driving using [18F]FDG-PET.

Science.gov (United States)

Jeong, Myeonggi; Tashiro, Manabu; Singh, Laxsmi N; Yamaguchi, Keiichiro; Horikawa, Etsuo; Miyake, Masayasu; Watanuki, Shouichi; Iwata, Ren; Fukuda, Hiroshi; Takahashi, Yasuo; Itoh, Masatoshi

2006-11-01

This study aims at identifying the brain activation during actual car-driving on the road, and at comparing the results to those of previous studies on simulated car-driving. Thirty normal volunteers, aged 20 to 56 years, were divided into three subgroups, active driving, passive driving and control groups, for examination by positron emission tomography (PET) and [18F]2-deoxy-2-fluoro-D-glucose (FDG). The active driving subjects (n = 10) drove for 30 minutes on quiet normal roads with a few traffic signals. The passive driving subjects (n = 10) participated as passengers on the front seat. The control subjects (n = 10) remained seated in a lit room with their eyes open. Voxel-based t-statistics were applied using SPM2 to search brain activation among the subgroups mentioned above. Significant brain activation was detected during active driving in the primary and secondary visual cortices, primary sensorimotor areas, premotor area, parietal association area, cingulate gyrus, the parahippocampal gyrus as well as in thalamus and cerebellum. The passive driving manifested a similar-looking activation pattern, lacking activations in the premotor area, cingulate and parahippocampal gyri and thalamus. Direct comparison of the active and passive driving conditions revealed activation in the cerebellum. The result of actual driving looked similar to that of simulated driving, suggesting that visual perception and visuomotor coordination were the main brain functions while driving. In terms of attention and autonomic arousal, however, it seems there was a significant difference between simulated and actual driving possibly due to risk of accidents. Autonomic and emotional aspects of driving should be studied using an actual driving study-design.

AUTOMATIC PARKING OF SELF-DRIVING CAR BASED ON LIDAR

OpenAIRE

B. Lee; Y. Wei; I. Y. Guo

2017-01-01

To overcome the deficiency of ultrasonic sensor and camera, this paper proposed a method of autonomous parking based on the self-driving car, using HDL-32E LiDAR. First the 3-D point cloud data was preprocessed. Then we calculated the minimum size of parking space according to the dynamic theories of vehicle. Second the rapidly-exploring random tree algorithm (RRT) algorithm was improved in two aspects based on the moving characteristic of autonomous car. And we calculated the parking path on...

Strategies for sustainable urban development and urban-rural linkages

NARCIS (Netherlands)

Nilsson, K.; Sick Nielsen, T.; Aalbers, C.B.E.M.; Bell, S.; Boitier, B.; Chery, J.P.; Fertner, C.; Groschowski, M.; Haase, D.; Loibl, W.; Pauleit, S.; Pintar, M.; Piorr, A.; Ravetz, J.; Ristimäki, M.; Rounsevell, M.; Tosics, I.; Westerink, J.; Zasada, I.

2014-01-01

An important driving force behind urban expansion is the growth of the urban population. But for Europe, this is not a sufficient explanation. The major trend is that European cities have become much less compact. Since the mid-1950s European cities have expanded on average by 78%, whereas the

GPS/DR Error Estimation for Autonomous Vehicle Localization

Directory of Open Access Journals (Sweden)

Byung-Hyun Lee

2015-08-01

Full Text Available Autonomous vehicles require highly reliable navigation capabilities. For example, a lane-following method cannot be applied in an intersection without lanes, and since typical lane detection is performed using a straight-line model, errors can occur when the lateral distance is estimated in curved sections due to a model mismatch. Therefore, this paper proposes a localization method that uses GPS/DR error estimation based on a lane detection method with curved lane models, stop line detection, and curve matching in order to improve the performance during waypoint following procedures. The advantage of using the proposed method is that position information can be provided for autonomous driving through intersections, in sections with sharp curves, and in curved sections following a straight section. The proposed method was applied in autonomous vehicles at an experimental site to evaluate its performance, and the results indicate that the positioning achieved accuracy at the sub-meter level.

Killing by Autonomous Vehicles and the Legal Doctrine of Necessity

NARCIS (Netherlands)

Santoni De Sio, F.

2017-01-01

How should autonomous vehicles (aka self-driving cars) be programmed to behave in the event of an unavoidable accident in which the only choice open is one between causing different damages or losses to different objects or persons? This paper addresses this ethical question starting from the

Autonomous intelligent cars: proof that the EPSRC Principles are future-proof

Science.gov (United States)

de Cock Buning, Madeleine; de Bruin, Roeland

2017-07-01

Principle 2 of the EPSRC's principles of robotics (AISB workshop on Principles of Robotics, 2016) proves to be future proof when applied to the current state of the art of law and technology surrounding autonomous intelligent cars (AICs). Humans, not AICS, are responsible agents. AICs should be designed; operated as far as is practicable to comply with existing laws and fundamental rights and freedoms, including privacy by design. It will show that some legal questions arising from autonomous intelligent driving technology can be answered by the technology itself.

Sensory Augmentation for Increased Awareness of Driving Environment [2014

Science.gov (United States)

2014-12-12

The goal of this project was to detect road boundaries and stationary obstacles on the road using low-cost automotive-grade LiDAR scanners for the purpose of lateral positioning of the vehicle along the road. For autonomous driving, this information ...

Biological Inspiration for Agile Autonomous Air Vehicles

Science.gov (United States)

2007-11-01

half of one wing, bees with legs packed with pollen , butterflies or moths with torn and frayed wings likewise are capable of apparently normal flight...technologies. To appreciate this, consider a not unreasonable extension of a wide area autonomous search (WAAS) munition operational scenario. Here...detect and destroy missile launchers that are operating in the back alleys of an urban areas or search Evers, J.H. (2007) Biological Inspiration for Agile

MART: an overview of the Mobile Autonomous Robot Twente project

NARCIS (Netherlands)

Tillema, H.G.; de Graaf, A.J.; Koster, M.P.; Nauta, J.M.; Oelen, W.; Schipper, D.A.

1993-01-01

At the University of Twente a mobile autonomous robot system is built that is designed to operate in a 'factory of the future'. Multiple robots, consisting of a manipulator on top of a vehicle, will drive through an assembly hall to collect components at part supply stations and to assemble

Autonomous Highway Systems Safety and Security

OpenAIRE

Sajjad, Imran

2017-01-01

Automated vehicles are getting closer each day to large-scale deployment. It is expected that self-driving cars will be able to alleviate traffic congestion by safely operating at distances closer than human drivers are capable of and will overall improve traffic throughput. In these conditions, passenger safety and security is of utmost importance. When multiple autonomous cars follow each other on a highway, they will form what is known as a cyber-physical system. In a general setting, t...

Comparison of three control methods for an autonomous vehicle

Science.gov (United States)

Deshpande, Anup; Mathur, Kovid; Hall, Ernest

2010-01-01

The desirability and challenge of developing a completely autonomous vehicle and the rising need for more efficient use of energy by automobiles motivate this research- a study for an optimum solution to computer control of energy efficient vehicles. The purpose of this paper is to compare three control methods - mechanical, hydraulic and electric that have been used to convert an experimental all terrain vehicle to drive by wire which would eventually act as a test bed for conducting research on various technologies for autonomous operation. Computer control of basic operations in a vehicle namely steering, braking and speed control have been implemented and will be described in this paper. The output from a 3 axis motion controller is used for this purpose. The motion controller is interfaced with a software program using WSDK (Windows Servo Design Kit) as an intermediate tuning layer for tuning and parameter settings in autonomous operation. The software program is developed in C++. The voltage signal sent to the motion controller can be varied through the control program for desired results in controlling the steering motor, activating the hydraulic brakes and varying the vehicle's speed. The vehicle has been tested for its basic functionality which includes testing of street legal operations and also a 1000 mile test while running in a hybrid mode. The vehicle has also been tested for control when it is interfaced with devices such as a keyboard, joystick and sensors under full autonomous operation. The vehicle is currently being tested in various safety studies and is being used as a test bed for experiments in control courses and research studies. The significance of this research is in providing a greater understanding of conventional driving controls and the possibility of improving automobile safety by removing human error in control of a motor vehicle.

Urban warming drives insect pest abundance on street trees.

Directory of Open Access Journals (Sweden)

Emily K Meineke

Full Text Available Cities profoundly alter biological communities, favoring some species over others, though the mechanisms that govern these changes are largely unknown. Herbivorous arthropod pests are often more abundant in urban than in rural areas, and urban outbreaks have been attributed to reduced control by predators and parasitoids and to increased susceptibility of stressed urban plants. These hypotheses, however, leave many outbreaks unexplained and fail to predict variation in pest abundance within cities. Here we show that the abundance of a common insect pest is positively related to temperature even when controlling for other habitat characteristics. The scale insect Parthenolecanium quercifex was 13 times more abundant on willow oak trees in the hottest parts of Raleigh, NC, in the southeastern United States, than in cooler areas, though parasitism rates were similar. We further separated the effects of heat from those of natural enemies and plant quality in a greenhouse reciprocal transplant experiment. P. quercifex collected from hot urban trees became more abundant in hot greenhouses than in cool greenhouses, whereas the abundance of P. quercifex collected from cooler urban trees remained low in hot and cool greenhouses. Parthenolecanium quercifex living in urban hot spots succeed with warming, and they do so because some demes have either acclimatized or adapted to high temperatures. Our results provide the first evidence that heat can be a key driver of insect pest outbreaks on urban trees. Since urban warming is similar in magnitude to global warming predicted in the next 50 years, pest abundance on city trees may foreshadow widespread outbreaks as natural forests also grow warmer.

A map of urban tales. Laboratory Q, a place for urban creativity

Directory of Open Access Journals (Sweden)

Antonio Alanis Arroyo

2015-07-01

Full Text Available Laboratory Q, a place for urban creativity is a research platform set up to study the contemporary city. Contained in a participatory virtual map are processes, spaces, and creative actions that took place in Seville between 1996 and 2012, the last part of which was defined by the economic crisis. This article is structured like a manifesto and presents the structural foundations that hold up the project. Each declaration works autonomously in relation to everything, describes the ideal strategy, and states how common urban tales are constructed.

Ultrasonic sensors in urban traffic driving-aid systems.

Science.gov (United States)

Alonso, Luciano; Milanés, Vicente; Torre-Ferrero, Carlos; Godoy, Jorge; Oria, Juan P; de Pedro, Teresa

2011-01-01

Currently, vehicles are often equipped with active safety systems to reduce the risk of accidents, most of which occur in urban environments. The most prominent include Antilock Braking Systems (ABS), Traction Control and Stability Control. All these systems use different kinds of sensors to constantly monitor the conditions of the vehicle, and act in an emergency. In this paper the use of ultrasonic sensors in active safety systems for urban traffic is proposed, and the advantages and disadvantages when compared to other sensors are discussed. Adaptive Cruise Control (ACC) for urban traffic based on ultrasounds is presented as an application example. The proposed system has been implemented in a fully-automated prototype vehicle and has been tested under real traffic conditions. The results confirm the good performance of ultrasonic sensors in these systems.

Urban Languages in Africa Stadtsprachen in Afrika

Directory of Open Access Journals (Sweden)

Rose Marie Beck

2010-01-01

Full Text Available Against the backdrop of current research on the city, urbanity is understood to be a distinct way of life in which (in the spatial, factual and historical dimensions processes of densification and heterogenization are perceived as acts of sociation. Urbanization is thus understood to include and produce structuration processes autonomously; this also includes autonomous linguistic practices, which are reflected as sediments of everyday knowledge in language and thus create the instruments needed for facilitating and generalizing such urbanization: urban languages. In this conceptual context, which looks at cities in Africa from the point of view of language sociology, two large phases of urbanization can be distinguished in Africa. The first phase is related to trade networks and cultural métissage of small groups of middlemen. The second phase, characterized by efforts to deal with Africa’s colonial history and to catch up with “the world”, presses ahead with the development of an autonomous, authentic modernity. The reconstruction of the development undergone especially by the more recent urban languages raises questions about the connotations of urbanization and modernization in contemporary Africa: on the one hand, dissociation from colonial legacies as well as from the postcolonial political elites, impotent administrations, and tribalist instrumentalizations of language and language policies; on the other, quite the reverse – the creation of autonomous African modernities that include the city (and the state, brought about by the interplay of both local dynamics and global flows. Vor dem Hintergrund aktueller Stadtforschung sowie der Konzeption von Sprache/Sprechen als Wissenssediment und Praxis wird davon ausgegangen, dass Stadtsprachen als Ressourcen und Resultate der Vergesellschaftung des urbanen Raumes anzusehen sind. In diesem konzeptuellen Rahmen können für Afrika zwei große Phasen der Urbanisierung unterschieden werden

Autonomous Driver Based on an Intelligent System of Decision-Making.

Science.gov (United States)

Czubenko, Michał; Kowalczuk, Zdzisław; Ordys, Andrew

The paper presents and discusses a system ( xDriver ) which uses an Intelligent System of Decision-making (ISD) for the task of car driving. The principal subject is the implementation, simulation and testing of the ISD system described earlier in our publications (Kowalczuk and Czubenko in artificial intelligence and soft computing lecture notes in computer science, lecture notes in artificial intelligence, Springer, Berlin, 2010, 2010, In Int J Appl Math Comput Sci 21(4):621-635, 2011, In Pomiary Autom Robot 2(17):60-5, 2013) for the task of autonomous driving. The design of the whole ISD system is a result of a thorough modelling of human psychology based on an extensive literature study. Concepts somehow similar to the ISD system can be found in the literature (Muhlestein in Cognit Comput 5(1):99-105, 2012; Wiggins in Cognit Comput 4(3):306-319, 2012), but there are no reports of a system which would model the human psychology for the purpose of autonomously driving a car. The paper describes assumptions for simulation, the set of needs and reactions (characterizing the ISD system), the road model and the vehicle model, as well as presents some results of simulation. It proves that the xDriver system may behave on the road as a very inexperienced driver.

Vision-based map building and trajectory planning to enable autonomous flight through urban environments

Science.gov (United States)

Watkins, Adam S.

The desire to use Unmanned Air Vehicles (UAVs) in a variety of complex missions has motivated the need to increase the autonomous capabilities of these vehicles. This research presents autonomous vision-based mapping and trajectory planning strategies for a UAV navigating in an unknown urban environment. It is assumed that the vehicle's inertial position is unknown because GPS in unavailable due to environmental occlusions or jamming by hostile military assets. Therefore, the environment map is constructed from noisy sensor measurements taken at uncertain vehicle locations. Under these restrictions, map construction becomes a state estimation task known as the Simultaneous Localization and Mapping (SLAM) problem. Solutions to the SLAM problem endeavor to estimate the state of a vehicle relative to concurrently estimated environmental landmark locations. The presented work focuses specifically on SLAM for aircraft, denoted as airborne SLAM, where the vehicle is capable of six degree of freedom motion characterized by highly nonlinear equations of motion. The airborne SLAM problem is solved with a variety of filters based on the Rao-Blackwellized particle filter. Additionally, the environment is represented as a set of geometric primitives that are fit to the three-dimensional points reconstructed from gathered onboard imagery. The second half of this research builds on the mapping solution by addressing the problem of trajectory planning for optimal map construction. Optimality is defined in terms of maximizing environment coverage in minimum time. The planning process is decomposed into two phases of global navigation and local navigation. The global navigation strategy plans a coarse, collision-free path through the environment to a goal location that will take the vehicle to previously unexplored or incompletely viewed territory. The local navigation strategy plans detailed, collision-free paths within the currently sensed environment that maximize local coverage

Urbanization in China drives soil acidification of Pinus massoniana forests

Science.gov (United States)

Huang, Juan; Zhang, Wei; Mo, Jiangming; Wang, Shizhong; Liu, Juxiu; Chen, Hao

2015-09-01

Soil acidification instead of alkalization has become a new environmental issue caused by urbanization. However, it remains unclear the characters and main contributors of this acidification. We investigated the effects of an urbanization gradient on soil acidity of Pinus massoniana forests in Pearl River Delta, South China. The soil pH of pine forests at 20-cm depth had significantly positive linear correlations with the distance from the urban core of Guangzhou. Soil pH reduced by 0.44 unit at the 0-10 cm layer in urbanized areas compared to that in non-urbanized areas. Nitrogen deposition, mean annual temperature and mean annual precipitation were key factors influencing soil acidification based on a principal component analysis. Nitrogen deposition showed significant linear relationships with soil pH at the 0-10 cm (for ammonium N (-N), P greatly contributed to a significant soil acidification occurred in the urbanized environment.

Ultrasonic Sensors in Urban Traffic Driving-Aid Systems

Directory of Open Access Journals (Sweden)

Teresa de Pedro

2011-01-01

Full Text Available Currently, vehicles are often equipped with active safety systems to reduce the risk of accidents, most of which occur in urban environments. The most prominent include Antilock Braking Systems (ABS, Traction Control and Stability Control. All these systems use different kinds of sensors to constantly monitor the conditions of the vehicle, and act in an emergency. In this paper the use of ultrasonic sensors in active safety systems for urban traffic is proposed, and the advantages and disadvantages when compared to other sensors are discussed. Adaptive Cruise Control (ACC for urban traffic based on ultrasounds is presented as an application example. The proposed system has been implemented in a fully-automated prototype vehicle and has been tested under real traffic conditions. The results confirm the good performance of ultrasonic sensors in these systems.

Ego, drives, and the dynamics of internal objects

Directory of Open Access Journals (Sweden)

Simon eBoag

2014-07-01

Full Text Available This paper addresses the relationship between the ego, id, and internal objects. While ego psychology views the ego as autonomous of the drives, a less well-known alternative position views the ego as constituted by the drives. Based on Freud’s ego-instinct account, this position has developed into a school of thought which postulates that the drives act as knowers. Given that there are multiple drives, this position proposes that personality is constituted by multiple knowers. Following on from Freud, the ego is viewed as a composite sub-set of the instinctual drives (ego-drives, whereas those drives cut off from expression form the id. The nature of the ‘self’ is developed in terms of identification and the possibility of multiple personalities is also established. This account is then extended to object-relations and the explanatory value of the ego-drive account is discussed in terms of the addressing the nature of ego-structures and the dynamic nature of internal objects. Finally, the impact of psychological conflict and the significance of repression for understanding the nature of splits within the psyche are also discussed.

Chapter Leadership Profiles among Citizen Activists in the Drunk Driving Movement.

Science.gov (United States)

Ungerleider, Steven; Bloch, Steven

1987-01-01

Study of Mothers Against Drunk Drivers (MADD) analyzed the chapter emphasis, levels of satisfaction and relationship to national office on several measures. Surveying 212 chapters, MADD leadership provided profile of independent, autonomous activists in the drunk driving countermeasure movement. (Author)

Automatic Parking of Self-Driving CAR Based on LIDAR

Science.gov (United States)

Lee, B.; Wei, Y.; Guo, I. Y.

2017-09-01

To overcome the deficiency of ultrasonic sensor and camera, this paper proposed a method of autonomous parking based on the self-driving car, using HDL-32E LiDAR. First the 3-D point cloud data was preprocessed. Then we calculated the minimum size of parking space according to the dynamic theories of vehicle. Second the rapidly-exploring random tree algorithm (RRT) algorithm was improved in two aspects based on the moving characteristic of autonomous car. And we calculated the parking path on the basis of the vehicle's dynamics and collision constraints. Besides, we used the fuzzy logic controller to control the brake and accelerator in order to realize the stably of speed. At last the experiments were conducted in an autonomous car, and the results show that the proposed automatic parking system is feasible and effective.

AUTOMATIC PARKING OF SELF-DRIVING CAR BASED ON LIDAR

Directory of Open Access Journals (Sweden)

B. Lee

2017-09-01

Full Text Available To overcome the deficiency of ultrasonic sensor and camera, this paper proposed a method of autonomous parking based on the self-driving car, using HDL-32E LiDAR. First the 3-D point cloud data was preprocessed. Then we calculated the minimum size of parking space according to the dynamic theories of vehicle. Second the rapidly-exploring random tree algorithm (RRT algorithm was improved in two aspects based on the moving characteristic of autonomous car. And we calculated the parking path on the basis of the vehicle’s dynamics and collision constraints. Besides, we used the fuzzy logic controller to control the brake and accelerator in order to realize the stably of speed. At last the experiments were conducted in an autonomous car, and the results show that the proposed automatic parking system is feasible and effective.

E-I balance emerges naturally from continuous Hebbian learning in autonomous neural networks.

Science.gov (United States)

Trapp, Philip; Echeveste, Rodrigo; Gros, Claudius

2018-06-12

Spontaneous brain activity is characterized in part by a balanced asynchronous chaotic state. Cortical recordings show that excitatory (E) and inhibitory (I) drivings in the E-I balanced state are substantially larger than the overall input. We show that such a state arises naturally in fully adapting networks which are deterministic, autonomously active and not subject to stochastic external or internal drivings. Temporary imbalances between excitatory and inhibitory inputs lead to large but short-lived activity bursts that stabilize irregular dynamics. We simulate autonomous networks of rate-encoding neurons for which all synaptic weights are plastic and subject to a Hebbian plasticity rule, the flux rule, that can be derived from the stationarity principle of statistical learning. Moreover, the average firing rate is regulated individually via a standard homeostatic adaption of the bias of each neuron's input-output non-linear function. Additionally, networks with and without short-term plasticity are considered. E-I balance may arise only when the mean excitatory and inhibitory weights are themselves balanced, modulo the overall activity level. We show that synaptic weight balance, which has been considered hitherto as given, naturally arises in autonomous neural networks when the here considered self-limiting Hebbian synaptic plasticity rule is continuously active.

The rise of self-driving cars : is the private international law framework for non-contractual obligations posing a bump in the road?

OpenAIRE

De Bruyne, Jan; Vanleenhove, Cedric

2018-01-01

This article focusses on some implications related to the commercialisation of self-driving or autonomous cars. Such vehicles are no longer a mere futuristic idea. They could soon be available on the market. Society in general and the applicable rules in particular will undergo a transformation following the introduction of autonomous vehicles. Despite the many benefits, self-driving cars also pose several challenges. These do not only relate to technical aspects but also to the influence of ...

Effects of upper-limb immobilisation on driving safety.

Science.gov (United States)

Gregory, J J; Stephens, A N; Steele, N A; Groeger, J A

2009-03-01

Doctors are frequently asked by patients whether it is safe to drive with an upper limb immobilised in a cast. In the literature there are no objective measurements of the effects of upper-limb immobilisation upon driving performance. Eight healthy volunteers performed four 20-min driving circuits in a driving simulator (STISIM 400W), circuits 1 and 4 without immobilisation and circuits 2 and 3 with immobilisation. Immobilisation involved a lightweight below-elbow cast with the thumb left free. Volunteers were randomised to right or left immobilisation for circuit 2, and the contralateral wrist was immobilised for circuit 3. Circuits included urban and rural environments and specific hazards (pedestrians crossing, vehicles emerging from a concealed entrance, traffic lights changing suddenly, avoidance of an oncoming vehicle in the driver's carriageway). Limb immobilisation led to more cautious rural and urban driving, with less adjustment of speed and lateral road position than when unrestricted. However when responding to hazards immobilisation caused less safe driving, with higher speeds, a greater proximity to the hazard before action was taken and less steering adjustment. The effects of restriction upon performance were more prevalent and severe with right-arm immobilisation. Upper-limb immobilisation appears to have little effect on the ability to drive a car unchallenged, but to adversely affect responses to routine hazards. Advice on ability to drive safely should be cautious, as the impact of immobilisation appears to be more subtle and wide ranging than previously thought.

Representations of relatedness with parents and friends and autonomous academic motivation during the late adolescence-early adulthood period: reciprocal or unidirectional effects?

Science.gov (United States)

Guay, Frédéric; Marsh, Herbert W; Senécal, Caroline; Dowson, Martin

2008-12-01

The literature on the determinants of academic motivation indicates that social and affective processes connected to students' interpersonal relationships are central elements in understanding students' academic motivation and other school-related outcomes. The aim of this study was to answer the following questions: Does autonomous motivation drive representations of relatedness, do representations of relatedness drive autonomous motivation, or are these constructs reciprocally related over time? The sample consists of 834 adolescents aged 18 years (SD=1.88) who participated in a 3-year longitudinal study. Results from the structural equation models provided good support for the effect of representations of relatedness with parents on autonomous academic motivation but no convincing support for the effect of motivation on representations of relatedness with parents. In addition, no significant effect in either direction was found between representations of relatedness with friends and autonomous academic motivation. It might be important to inform parents that they may still have an influence on their adolescent's representations of relatedness and subsequently on his/her autonomous academic motivation even during the late adolescence-early adulthood period, a period when some parents may be tempted to believe that they can do little to motivate their offspring.

More with thermal energy storage. Report 8. Autonomous heating. Autonomous development of ground temperature. Final report; Meer met bodemenergie. Rapport 8. Autonome opwarming. Autonome ontwikkeling bodemtemperatuur. Eindrapport

Energy Technology Data Exchange (ETDEWEB)

Drijver, B. [IF Technology, Arnhem (Netherlands)

2012-03-30

The project More With Thermal Energy Storage (MMB, abbreviated in Dutch) focuses on knowledge gaps and potential opportunities regarding open systems. The main questions to be answered are: (1) What effects (hydrological, thermal, microbiological and chemical) occur in the soil system by application of thermal energy storage; (2) Which technical options are available for a sustainable integration of thermal energy storage in the water and energy chain?; (3) Is it possible to achieve multiple objectives by using smart combinations? The project is organized in different work packages. In work package 2, the effects of individual and collective thermal energy storage storage systems on subsoils and the environment are determined. In work package 3 the opportunities for thermal energy storage and soil remediation are examined, while in work package 4 the focus is on new sustainable combinations of heat and cold storage. Work package 1 is the umbrella part where communication and policy of and participation in MMB are the main subjects. This report contains an analysis of the thermal impact of climate change and urbanization on the soil temperature. Attention is paid to the autonomous heating of the subsurface that occurred since 1900 and that still may be expected up to 2040. A distinction is made between rural areas, where only the climate change plays a role, and urban areas, where the UHI effect (Urban Heat Island) is of importance [Dutch] Het project Meer Met Bodemenergie (MMB) richt zich op het invullen van kennisleemtes en mogelijke kansen ten aanzien van open systemen. De belangrijkste vragen waarop het onderzoeksprogramma MMB antwoord geeft zijn: (1) Welke effecten (hydrologisch, thermisch, microbiologisch en chemisch) treden op in het bodemsysteem bij toepassing van bodemenergie?; (2) Welke technische mogelijkheden zijn er voor het duurzaam inpassen van bodem-energie in de water- en energieketen?; (3) Is het mogelijk om meerdere doelstellingen tegelijk te

A learning-based autonomous driver: emulate human driver's intelligence in low-speed car following

Science.gov (United States)

Wei, Junqing; Dolan, John M.; Litkouhi, Bakhtiar

2010-04-01

In this paper, an offline learning mechanism based on the genetic algorithm is proposed for autonomous vehicles to emulate human driver behaviors. The autonomous driving ability is implemented based on a Prediction- and Cost function-Based algorithm (PCB). PCB is designed to emulate a human driver's decision process, which is modeled as traffic scenario prediction and evaluation. This paper focuses on using a learning algorithm to optimize PCB with very limited training data, so that PCB can have the ability to predict and evaluate traffic scenarios similarly to human drivers. 80 seconds of human driving data was collected in low-speed (car-following scenarios. In the low-speed car-following tests, PCB was able to perform more human-like carfollowing after learning. A more general 120 kilometer-long simulation showed that PCB performs robustly even in scenarios that are not part of the training set.

Heavy metal(loid)s and organic contaminants in groundwater in the Pearl River Delta that has undergone three decades of urbanization and industrialization: Distributions, sources, and driving forces.

Science.gov (United States)

Huang, Guanxing; Zhang, Ming; Liu, Chunyan; Li, Liangping; Chen, Zongyu

2018-09-01

Urbanization and industrialization have increased groundwater resource demands, and may drive the change of heavy metal(loid)s and organic chemicals in groundwater in the Pearl River Delta (PRD), southern China. Thus, a comprehensive understanding of the distributions, sources, and driving forces of heavy metal(loid)s and organic chemicals in groundwater in the PRD is vital for water resource management in this region. In this study, eight heavy metal(loid)s and fifty-five organic chemicals in groundwater across the PRD were investigated. The results show that undrinkable groundwater related to heavy metal(loid)s was mainly due to high concentrations of Fe (19.3%) and As (6.8%). Eighteen organic contaminants were detected in groundwater in the PRD, where the most frequently detected organic contaminant was naphthalene, and its detection rate was 2.51%. In 5.3% of all groundwater samples, one or more organic contaminants were found. All detected organic contaminants, except ones without allowable limits, in groundwater were at concentrations below allowable limits of China. The mean concentrations of heavy metal(loid)s in granular aquifers were higher than those in fissured and karst aquifers, especially for Fe and As. Except Se, the mean concentrations of other heavy metal(loid)s and the frequency of detection of organic contaminants in groundwater in urbanized and peri-urban areas were higher than those in non-urbanized areas, especially for Hg, Co, and organic contaminants. Fe, As, and Se in groundwater mainly originated from the release of Fe/As/Se rich sediments. The former two were driven by reduction reactions, while the latter was driven by oxidation resulting from the infiltration of NO 3 - . In contrast, other five heavy metal(loid)s and organic contaminants in groundwater mainly originated from the anthropogenic sources, such as the infiltration of industrial sewage. It is evident that urbanization and industrialization are two powerful driving forces for

Autonomic urban traffic optimization using data analytics

OpenAIRE

Garriga Porqueras, Albert

2017-01-01

This work focuses on a smart mobility use case where real-time data analytics on traffic measures is used to improve mobility in the event of a perturbation causing congestion in a local urban area. The data monitored is analysed in order to identify patterns that are used to properly reconfigure traffic lights. The monitoring and data analytics infrastructure is based on a hierarchical distributed architecture that allows placing data analytics processes such as machine learning close to the...

Effects of chewing gum on driving performance as evaluated by the STISIM driving simulator.

Science.gov (United States)

Yoo, Ingyu; Kim, Eun-Joo; Lee, Joo-Hyun

2015-06-01

[Purpose] The purpose of this study was to determine the effects of chewing gum on driving performance in a driving simulator. [Subjects] In total, 26 young licensed drivers participated. [Methods] The driving scenario was typical of an urban environment: a single-carriageway, two-way road consisting of a mix of curved and straight sections, with considerable levels of traffic, pedestrians, and parked cars. Mean distance driven above the speed limit, lane position, mean distance driven across the center line, and mean distance driven off the road were used as estimates of brake, accelerator, and steering control. The results were compared with those of a non-chewing gum control condition. [Results] The driving performance while chewing gum was significantly better: the mean distance driven above the speed limit was 26.61% shorter, and the mean distance driven off the road was 31.99% shorter. Lane position and mean distance driven across the center line did not differ significantly between the two conditions. [Conclusion] Chewing gum appears to enhance driving performance during a sustained attention driving task.

Effects of teacher autonomy support and students' autonomous motivation on learning in physical education.

Science.gov (United States)

Shen, Bo; McCaughtry, Nate; Martin, Jeffrey; Fahlman, Mariane

2009-03-01

This study applied self-determination theory to investigate the effects of students' autonomous motivation and their perceptions of teacher autonomy support on need satisfaction adjustment, learning achievement, and cardiorespiratory fitness over a 4-month personal conditioning unit. Participants were 253 urban adolescents (121 girls and 132 boys, ages = 12-14 years). Based on a series of multiple regression analyses, perceived autonomy support by teachers significantly predicted students'need satisfaction adjustment and led to learning achievement, especially for students who were not autonomously motivated to learn in physical education. In turn, being more autonomous was directly associated with cardiorespiratory fitness enhancement. The findings suggest that shifts in teaching approaches toward providing more support for students' autonomy and active involvement hold promise for enhancing learning.

Motion Planning of Autonomous Vehicles on a Dual Carriageway without Speed Lanes

Directory of Open Access Journals (Sweden)

Rahul Kala

2015-01-01

Full Text Available The problem of motion planning of an autonomous vehicle amidst other vehicles on a straight road is considered. Traffic in a number of countries is unorganized, where the vehicles do not move within predefined speed lanes. In this paper, we formulate a mechanism wherein an autonomous vehicle may travel on the “wrong” side in order to overtake a vehicle. Challenges include assessing a possible overtaking opportunity, cooperating with other vehicles, partial driving on the “wrong” side of the road and safely going to and returning from the “wrong” side. The experimental results presented show vehicles cooperating to accomplish overtaking manoeuvres.

Trajectory generation for an on-road autonomous vehicle

Science.gov (United States)

Horst, John; Barbera, Anthony

2006-05-01

We describe an algorithm that generates a smooth trajectory (position, velocity, and acceleration at uniformly sampled instants of time) for a car-like vehicle autonomously navigating within the constraints of lanes in a road. The technique models both vehicle paths and lane segments as straight line segments and circular arcs for mathematical simplicity and elegance, which we contrast with cubic spline approaches. We develop the path in an idealized space, warp the path into real space and compute path length, generate a one-dimensional trajectory along the path length that achieves target speeds and positions, and finally, warp, translate, and rotate the one-dimensional trajectory points onto the path in real space. The algorithm moves a vehicle in lane safely and efficiently within speed and acceleration maximums. The algorithm functions in the context of other autonomous driving functions within a carefully designed vehicle control hierarchy.

Simulation of Trolleybus Traction Induction Drive With Supercapacitor Energy Storage System

Science.gov (United States)

Brazis, V.; Latkovskis, L.; Grigans, L.

2010-01-01

The article considers the possibilities of saving the regenerative braking energy in Škoda 24Tr type trolleybuses by installing the onboard supercapacitor energy storage system (ESS) and improving its performance with automated switching to the autonomous traction mode. Proposed is an ESS control system with constant DC bus voltage in the supercapacitor charging mode and supercapacitor current proportional to the AC drive current in the discharging mode. The authors investigate stability of the trolleybus ESS control system operating together with AC traction drive in various overhead voltage failure modes. The co-simulation of ESS operation was done by Matlab/Simulink AC drive and PSIM ESS continuous models.

Radio frequency energy harvesting and low power data transmission for autonomous wireless sensor nodes

NARCIS (Netherlands)

Rodrigues Mansano, A.L.

2016-01-01

Since the Internet of Things (IoT) is expected to be the new technology to drive the semiconductor industry, significant research efforts have been made to develop new circuit and system techniques for autonomous/very low-power operation of wireless sensor nodes. Very low-power consumption of

[Dirofilariasis in the Autonomous Republic of Crimea].

Science.gov (United States)

Korolev, V A; Romashova, M F

2005-01-01

The paper presents data on the prevalence of dirofilariasis in the Autonomous Republic of Crimea during 5 years from 1999 to 2003. The nematode Dirofilaria repens is a causative agent of the disease. Sporadic cases of helminthiasis are annually registered in some urban and rural areas on the plain of the peninsula. The disease is absent on the foothills and Black sea coast of the southern and eastern parts of Crimea. The localization of the parasite is typical of this helminthiasis. Dirofilariasis in Crimea may be regarded as a transmissible helminthiasis with natural focal trends.

Autonomous Agents on Expedition: Humans and Progenitor Ants and Planetary Exploration

Science.gov (United States)

Rilee, M. L.; Clark, P. E.; Curtis, S. A.; Truszkowski, W. F.

2002-01-01

The Autonomous Nano-Technology Swarm (ANTS) is an advanced mission architecture based on a social insect analog of many specialized spacecraft working together to achieve mission goals. The principal mission concept driving the ANTS architecture is a Main Belt Asteroid Survey in the 2020s that will involve a thousand or more nano-technology enabled, artificially intelligent, autonomous pico-spacecraft (architecture. High level, mission-oriented behaviors are to be managed by a control / communications layer of the swarm, whereas common low level functions required of all spacecraft, e.g. attitude control and guidance and navigation, are handled autonomically on each spacecraft. At the higher levels of mission planning and social interaction deliberative techniques are to be used. For the asteroid survey, ANTS acts as a large community of cooperative agents while for precursor missions there arises the intriguing possibility of Progenitor ANTS and humans acting together as agents. For optimal efficiency and responsiveness for individual spacecraft at the lowest levels of control we have been studying control methods based on nonlinear dynamical systems. We describe the critically important autonomous control architecture of the ANTS mission concept and a sequence of partial implementations that feature increasingly autonomous behaviors. The scientific and engineering roles that these Progenitor ANTS could play in human missions or remote missions with near real time human interactions, particularly to the Moon and Mars, will be discussed.

Effects of alcohol on automated and controlled driving performances.

Science.gov (United States)

Berthelon, Catherine; Gineyt, Guy

2014-05-01

Alcohol is the most frequently detected substance in fatal automobile crashes, but its precise mode of action is not always clear. The present study was designed to establish the influence of blood alcohol concentration as a function of the complexity of the scenarios. Road scenarios implying automatic or controlled driving performances were manipulated in order to identify which behavioral parameters were deteriorated. A single blind counterbalanced experiment was conducted on a driving simulator. Sixteen experienced drivers (25.3 ± 2.9 years old, 8 men and 8 women) were tested with 0, 0.3, 0.5, and 0.8 g/l of alcohol. Driving scenarios varied: road tracking, car following, and an urban scenario including events inspired by real accidents. Statistical analyses were performed on driving parameters as a function of alcohol level. Automated driving parameters such as standard deviation of lateral position measured with the road tracking and car following scenarios were impaired by alcohol, notably with the highest dose. More controlled parameters such as response time to braking and number of crashes when confronted with specific events (urban scenario) were less affected by the alcohol level. Performance decrement was greater with driving scenarios involving automated processes than with scenarios involving controlled processes.

Obstacle avoidance test using a sensor-based autonomous robotic system

International Nuclear Information System (INIS)

Fujii, Yoshio; Suzuki, Katsuo

1998-12-01

From a viewpoint of reducing personnel radiation exposure of plant staffs working in the high radiation area of nuclear facilities, it is often said to be necessary to develop remote robotic systems, which have great potential of performing various tasks in nuclear facilities. Hence, we developed an advanced remote robotic system, consisting of redundant manipulator and environment-sensing systems, which can be applied to complicated handling tasks under unstructured environment. In the robotic system, various types of sensors for environment-sensing are mounted on the redundant manipulator and sensor-based autonomous capabilities are incorporated. This report describes the results of autonomous obstacle avoidance test which was carried out as follows: manipulating valves at the rear-side of wall, through a narrow window of the wall, with the redundant manipulator mounted on an x-axis driving mechanism. From this test, it is confirmed that the developed robotic system can autonomously achieve handling tasks in limited space as avoiding obstacles, which is supposed to be difficult by a non-redundant manipulator. (author)

Genome-wide mapping of autonomous promoter activity in human cells.

Science.gov (United States)

van Arensbergen, Joris; FitzPatrick, Vincent D; de Haas, Marcel; Pagie, Ludo; Sluimer, Jasper; Bussemaker, Harmen J; van Steensel, Bas

2017-02-01

Previous methods to systematically characterize sequence-intrinsic activity of promoters have been limited by relatively low throughput and the length of the sequences that could be tested. Here we present 'survey of regulatory elements' (SuRE), a method that assays more than 10 8 DNA fragments, each 0.2-2 kb in size, for their ability to drive transcription autonomously. In SuRE, a plasmid library of random genomic fragments upstream of a 20-bp barcode is constructed, and decoded by paired-end sequencing. This library is used to transfect cells, and barcodes in transcribed RNA are quantified by high-throughput sequencing. When applied to the human genome, we achieve 55-fold genome coverage, allowing us to map autonomous promoter activity genome-wide in K562 cells. By computational modeling we delineate subregions within promoters that are relevant for their activity. We show that antisense promoter transcription is generally dependent on the sense core promoter sequences, and that most enhancers and several families of repetitive elements act as autonomous transcription initiation sites.

The ARTEMIS European driving cycles for measuring car pollutant emissions.

Science.gov (United States)

André, Michel

2004-12-01

In the past 10 years, various work has been undertaken to collect data on the actual driving of European cars and to derive representative real-world driving cycles. A compilation and synthesis of this work is provided in this paper. In the frame of the European research project: ARTEMIS, this work has been considered to derive a set of reference driving cycles. The main objectives were as follows: to derive a common set of reference real-world driving cycles to be used in the frame of the ARTEMIS project but also in the frame of on-going national campaigns of pollutant emission measurements, to ensure the compatibility and integration of all the resulting emission data in the European systems of emission inventory; to ensure and validate the representativity of the database and driving cycles by comparing and taking into account all the available data regarding driving conditions; to include in three real-world driving cycles (urban, rural road and motorway) the diversity of the observed driving conditions, within sub-cycles allowing a disaggregation of the emissions according to more specific driving conditions (congested and free-flow urban). Such driving cycles present a real advantage as they are derived from a large database, using a methodology that was widely discussed and approved. In the main, these ARTEMIS driving cycles were designed using the available data, and the method of analysis was based to some extent on previous work. Specific steps were implemented. The study includes characterisation of driving conditions and vehicle uses. Starting conditions and gearbox use are also taken into account.

vSLAM: vision-based SLAM for autonomous vehicle navigation

Science.gov (United States)

Goncalves, Luis; Karlsson, Niklas; Ostrowski, Jim; Di Bernardo, Enrico; Pirjanian, Paolo

2004-09-01

Among the numerous challenges of building autonomous/unmanned vehicles is that of reliable and autonomous localization in an unknown environment. In this paper we present a system that can efficiently and autonomously solve the robotics 'SLAM' problem, where a robot placed in an unknown environment, simultaneously must localize itself and make a map of the environment. The system is vision-based, and makes use of Evolution Robotic's powerful object recognition technology. As the robot explores the environment, it is continuously performing four tasks, using information from acquired images and the drive system odometry. The robot: (1) recognizes previously created 3-D visual landmarks; (2) builds new 3-D visual landmarks; (3) updates the current estimate of its location, using the map; (4) updates the landmark map. In indoor environments, the system can build a map of a 5m by 5m area in approximately 20 minutes, and can localize itself with an accuracy of approximately 15 cm in position and 3 degrees in orientation relative to the global reference frame of the landmark map. The same system can be adapted for outdoor, vehicular use.

Electric drives

Energy Technology Data Exchange (ETDEWEB)

1986-10-01

Several electric vehicles have been tested in long-term tests, i.e. an electric passenger car (maximum speed 115 km/h) and several busses for use in pedestrians' zones, spas, airports, natural reserves, and urban transportation (DUO busses). The ICE high-speed train is discussed in some detail, i.e. its aeroacoustic and aerodynamic design, running gear, computer-controlled drives and brakes, diagnostic systems, and electrical equipment. The Berlin Maglev system is mentioned as well as current inverters in rail vehicles. (HWJ).

Remote Sensing of Radiation Dose Rate by Customizing an Autonomous Robot

International Nuclear Information System (INIS)

Kobayashi, T; Nakahara, M; Morisato, K; Takashina, T; Kanematsu, H

2012-01-01

Distribution of radiation dose was measured by customizing an autonomous cleaning robot 'Roomba' and a scintillation counter. The robot was used as a vehicle carrying the scintillation survey meter, and was additionally equipped with an H8 micro computer to remote-control the vehicle and to send measured data. The data obtained were arranged with position data, and then the distribution map of the radiation dose rate was produced. Manual, programmed and autonomous driving tests were conducted, and all performances were verified. That is, for each operational mode, the measurements both with moving and with discrete moving were tried in and outside of a room. Consequently, it has been confirmed that remote sensing of radiation dose rate is possible by customizing a robot on market.

Urban structure and air pollution

Science.gov (United States)

Lyons, T. J.; Kenworthy, J. R.; Newman, P. W. G.

Representative driving cycles across the Perth, Western Australia, metropolitan region illustrate a direct relationship to urban land use. Movement away from the central business district results in fewer traffic events, higher speeds, longer cruise periods and shorter stops. The consequent reduction in root mean square acceleration leads to a corresponding reduction in vehicle emission factors. Urban planning implications are pursued and highlight the importance of public transport as an option in reducing urban air pollution.

Qualifying Urban Landscapes

DEFF Research Database (Denmark)

Clemmensen, Thomas Juel; Nielsen, Tom; Daugaard, Morten

2010-01-01

The article presents an attempt to develop alternatives to the dominant planning and design principles used in building and rebuilding the contemporary urban landscape. The basic idea is that the ‘forces of modernisation’ driving current development might result in a broader and more interesting...... for contemporary urban landscape design practice....... to the task of constructing and improving things. With this goal, a set of objectives based in important insights from recent urban theory are formulated constituting the normative spine of the analysis of a number of found situations as basis for formulating eight generic concepts of qualification...

Learning for Autonomous Navigation

Science.gov (United States)

Angelova, Anelia; Howard, Andrew; Matthies, Larry; Tang, Benyang; Turmon, Michael; Mjolsness, Eric

2005-01-01

Robotic ground vehicles for outdoor applications have achieved some remarkable successes, notably in autonomous highway following (Dickmanns, 1987), planetary exploration (1), and off-road navigation on Earth (1). Nevertheless, major challenges remain to enable reliable, high-speed, autonomous navigation in a wide variety of complex, off-road terrain. 3-D perception of terrain geometry with imaging range sensors is the mainstay of off-road driving systems. However, the stopping distance at high speed exceeds the effective lookahead distance of existing range sensors. Prospects for extending the range of 3-D sensors is strongly limited by sensor physics, eye safety of lasers, and related issues. Range sensor limitations also allow vehicles to enter large cul-de-sacs even at low speed, leading to long detours. Moreover, sensing only terrain geometry fails to reveal mechanical properties of terrain that are critical to assessing its traversability, such as potential for slippage, sinkage, and the degree of compliance of potential obstacles. Rovers in the Mars Exploration Rover (MER) mission have got stuck in sand dunes and experienced significant downhill slippage in the vicinity of large rock hazards. Earth-based off-road robots today have very limited ability to discriminate traversable vegetation from non-traversable vegetation or rough ground. It is impossible today to preprogram a system with knowledge of these properties for all types of terrain and weather conditions that might be encountered.

Responsibility for crashes of autonomous vehicles: an ethical analysis.

Science.gov (United States)

Hevelke, Alexander; Nida-Rümelin, Julian

2015-06-01

A number of companies including Google and BMW are currently working on the development of autonomous cars. But if fully autonomous cars are going to drive on our roads, it must be decided who is to be held responsible in case of accidents. This involves not only legal questions, but also moral ones. The first question discussed is whether we should try to design the tort liability for car manufacturers in a way that will help along the development and improvement of autonomous vehicles. In particular, Patrick Lin's concern that any security gain derived from the introduction of autonomous cars would constitute a trade-off in human lives will be addressed. The second question is whether it would be morally permissible to impose liability on the user based on a duty to pay attention to the road and traffic and to intervene when necessary to avoid accidents. Doubts about the moral legitimacy of such a scheme are based on the notion that it is a form of defamation if a person is held to blame for causing the death of another by his inattention if he never had a real chance to intervene. Therefore, the legitimacy of such an approach would depend on the user having an actual chance to do so. The last option discussed in this paper is a system in which a person using an autonomous vehicle has no duty (and possibly no way) of interfering, but is still held (financially, not criminally) responsible for possible accidents. Two ways of doing so are discussed, but only one is judged morally feasible.

Engineering an Affordable Self-Driving Car

KAUST Repository

Budisteanu, Alexandru Ionut

2018-01-17

"More than a million people die in car accidents each year, and most of those accidents are the result of human errorﾔ Alexandru Budisteanu is 23 years old and owns a group of startups including Autonomix, an Artificial Intelligence software for affordable self-driving cars and he designed a low-cost self-driving car. The car\\'s roof has cameras and low-resolution 3D LiDAR equipment to detect traffic lanes, other cars, curbs and obstacles, such as people crossing by. To process this dizzying amount of data, Alexandru employed Artificial Intelligence algorithms to extract information from the visual data and plot a safe route for the car. Then, he built a manufacturing facility in his garage from Romania to assembly affordable VisionBot Pick and Place robots that are used to produce electronics. During this lecture, Alexandru will talk about this autonomous self-driving car prototype, for which he received the grand prize of the Intel International Science and Engineering Fair, and was nominated by TIME magazine as one of the worldﾒs most influential teens of 2013.

Policy challenges of increasing automation in driving

Directory of Open Access Journals (Sweden)

Ata M. Khan

2012-03-01

Full Text Available The convergence of information and communication technologies (ICT with automotive technologies has already resulted in automation features in road vehicles and this trend is expected to continue in the future owing to consumer demand, dropping costs of components, and improved reliability. While the automation features that have taken place so far are mainly in the form of information and driver warning technologies (classified as level I pre-2010, future developments in the medium term (level II 2010–2025 are expected to exhibit connected cognitive vehicle features and encompass increasing degree of automation in the form of advanced driver assistance systems. Although autonomous vehicles have been developed for research purposes and are being tested in controlled driving missions, the autonomous driving case is only a long term (level III 2025+ scenario. This paper contributes knowledge on technological forecasts regarding automation, policy challenges for each level of technology development and application context, and the essential instrument of cost-effectiveness for policy analysis which enables policy decisions on the automation systems to be assessed in a consistent and balanced manner. The cost of a system per vehicle is viewed against its effectiveness in meeting policy objectives of improving safety, efficiency, mobility, convenience and reducing environmental effects. Example applications are provided that illustrate the contribution of the methodology in providing information for supporting policy decisions. Given the uncertainties in system costs as well as effectiveness, the tool for assessing policies for future generation features probabilistic and utility-theoretic analysis capability. The policy issues defined and the assessment framework enable the resolution of policy challenges while allowing worthy innovative automation in driving to enhance future road transportation.

Urbanization Process Monitoring in Northwest China based on DMSP/OLS Nighttime Light Data

Science.gov (United States)

Wang, K.; Bai, L. Y.; Feng, J. Z.

2017-02-01

In recent years, the DMSP/OLS nighttime light data have been widely applied to various fields such as monitoring and evaluation of urbanization, estimation of social economy, economical environment and health effects, hazards analysis, and fisheries research. The general urbanized level in China has rapidly developed since the 1990s, and the cities in northwest China, which were important population centres of the ancient silk road, have also been developed in a high speed thanks to China’s national strategy of Western Development. Given the Xinjiang autonomous region as a core area of One Belt and One Road, it is very necessary to study the urbanization processes and changes of its urban system and the whole northwest region of China. In this paper, we extracted built-up areas of the cities in northwest China in 1992, 1997, 2002, 2007, and 2012, evaluated urban expansion and spatial pattern through appropriate indexes, and also quantitatively analyzed the urbanized level of each city. The results showed that the cities in northwest China generally presented high strong and rapid expansion, but there were some large differences among cities. Urban expansion forms alternate with exterior expansion and interior filling, in general, the cities externally expandedafter 2002 and internally filledbefore 2002, meanwhile, there were a high positive correlation between urban built-up areas and population growth in Xinjiang autonomous.

In Orbit Performance of a Fully Autonomous Star Tracker

DEFF Research Database (Denmark)

Jørgensen, John Leif

1999-01-01

The Department of Automation at DTU has developed the Advanced Stellar Compass (ASC), a fully autonomous star tracker, for use as high precision attitude reference onboard spacecrafts. The ASC is composed of a CCD-based camera and a powerful microprocessor containing star catalogue, image......-analysis software and a search engine. The unit autonomously performs all tasks necessary to calculate the inertial attitude from a star image. To allow for flexible attitude manoeuvres, the ASC can, simultaneously, drive from one to four cameras, efficiently removing dropouts from, e.g., sun blinding of one camera......, it is difficult to test and verify the true robustness and accuracy of a star tracker on ground. This is caused by the fact that only real-sky tests offer high fidelity stimulation of the sensor, while the atmosphere instabilities result in a dominant noise source intrinsically limiting the achievable accuracy...

Covering path generation for autonomous turf-care vehicle

DEFF Research Database (Denmark)

Mai, Christian; Jouffroy, Jerome; Top, Søren

2017-01-01

A covering path generation algorithm is developed to generate a lengthwise pattern based on a polygon describing the outer boundary and obstacles (polygon holes) of a geographical area. The algorithm is applied to an autonomous lawn-care robot for application to large grass turfs, for example golf......-courses, which require structured and precise cutting patterns. The geographical polygon is recorded by manually driving the vehicle around the contour, resulting in a polygon given as geographical (latitude, longitude) coordinates of the vertices, which together with machine parameters are used to generate...

Autonomic headache with autonomic seizures: a case report.

Science.gov (United States)

Ozge, Aynur; Kaleagasi, Hakan; Yalçin Tasmertek, Fazilet

2006-10-01

The aim of the report is to present a case of an autonomic headache associated with autonomic seizures. A 19-year-old male who had had complex partial seizures for 15 years was admitted with autonomic complaints and left hemicranial headache, independent from seizures, that he had had for 2 years and were provoked by watching television. Brain magnetic resonance imaging showed right hippocampal sclerosis and electroencephalography revealed epileptic activity in right hemispheric areas. Treatment with valproic acid decreased the complaints. The headache did not fulfil the criteria for the diagnosis of trigeminal autonomic cephalalgias, and was different from epileptic headache, which was defined as a pressing type pain felt over the forehead for several minutes to a few hours. Although epileptic headache responds to anti-epileptics and the complaints of the present case decreased with antiepileptics, it has been suggested that the headache could be a non-trigeminal autonomic headache instead of an epileptic headache.

Understanding spatial differentiation in urban decline levels

NARCIS (Netherlands)

Hoekveld, J.J.

2014-01-01

The economic and demographic changes currently manifest in many Western cities—referred to as urban decline or urban shrinkage—are receiving increased attention in public and academic debates. Although the general processes driving these changes have been identified, such processes cannot explain

Segregation reinforced by urban planning | IDRC - International ...

International Development Research Centre (IDRC) Digital Library (Canada)

2015-10-28

Oct 28, 2015 ... ... What is driving urban violence? Segregated urban planning can leave a legacy of community tension and insecurity. Potential solutions? Include vulnerable communities in city planning decisions; invest in transport infrastructure; and regularly update city development plans to reflect population growth.

Profile formation and sustainment of autonomous tokamak plasma with current hole configuration

International Nuclear Information System (INIS)

Hayashi, N.; Takizuka, T.; Ozeki, T.

2005-01-01

We have investigated the profile formation and sustainment of tokamak plasmas with the current hole (CH) configuration by using 1.5D time-dependent transport simulations. A model of the current limit inside the CH on the basis of the Axisymmetric Tri-Magnetic-Islands equilibrium is introduced into the transport simulation. We found that a transport model with the sharp reduction of anomalous transport in the reversed-shear (RS) region can reproduce the time evolution of profiles observed in JT-60U experiments. The transport becomes neoclassical-level in the RS region, which results in the formation of profiles with internal transport barrier (ITB) and CH. The CH plasma has an autonomous property because of the strong interaction between a pressure profile and a current profile through the large bootstrap current fraction. The ITB width determined by the neoclassical-level transport agrees well with that measured in JT-60U. The energy confinement inside the ITB agrees with the scaling based on the JT-60U data. The scaling means the autonomous limitation of energy confinement in the CH plasma. The plasma with the large CH is sustained with the full current drive by the bootstrap current. The plasma with the small CH and the small bootstrap current fraction shrinks due to the penetration of inductive current. This shrink is prevented and the CH size can be controlled by the appropriate external current drive (CD). The CH plasma is found to respond autonomically to the external CD. (author)

Viability of using different types of main oil pipelines pump drives

Science.gov (United States)

Zakirzakov, A. G.; Zemenkov, Yu D.; Akulov, K. A.

2018-05-01

The choice of the pumping units' drive of main oil pipelines is of great importance both for design of pipelines and for modernization of existing ones. At the beginning of oil pipeline transport development, due to the limited number and types of energy sources, the choice was not difficult. The combustion energy of the pumped product was often the only available energy resource for its transportation. In this regard, the pipelines that had autonomous energy sources favorably differed from other energy consumers in the sector. With the passage of time, with the development of the country's electricity supply system, the electric drive for power-line equipment of oil pipelines becomes the dominant type of a pumping station drive. Nowadays, the traditional component is an essential factor when choosing some type of the drive. For many years, oil companies have been using electric drives for pumps, while gas transport enterprises prefer self-contained gas turbines.

Study of Command and Control (C&C) Structures on Integrating Unmanned Autonomous Systems (UAS) into Manned Environments

Science.gov (United States)

2012-09-01

and traveled all the way around Lake Tahoe. The self - driving cars have logged over 140,000 miles since October 9, 2010 (Google 2010) pictured here...UNDERWATER VEHICLES (AUV) STARFISH is the name given to a small team of autonomous robotic fish - a project carried out by the Acoustic Research...www.scribd.com/doc/42245301/Manual-Mine- Clearance-Book1. Accessed July 23, 2012. Google. The Self - Driving Car Logs more Miles on New Wheels. August 7

Virginia Tech team qualifies as DARPA Urban Challenge semi-finalist

OpenAIRE

Crumbley, Liz

2007-01-01

"VictorTango," a team of Virginia Tech engineering and geography students, will travel to Victorville, Calif., for the national qualifying rounds of the Urban Challenge autonomous vehicle competition, sponsored by the Defense Advanced Research Projects Agency (DARPA).

Capturing Requirements for Autonomous Spacecraft with Autonomy Requirements Engineering

Science.gov (United States)

Vassev, Emil; Hinchey, Mike

2014-08-01

The Autonomy Requirements Engineering (ARE) approach has been developed by Lero - the Irish Software Engineering Research Center within the mandate of a joint project with ESA, the European Space Agency. The approach is intended to help engineers develop missions for unmanned exploration, often with limited or no human control. Such robotics space missions rely on the most recent advances in automation and robotic technologies where autonomy and autonomic computing principles drive the design and implementation of unmanned spacecraft [1]. To tackle the integration and promotion of autonomy in software-intensive systems, ARE combines generic autonomy requirements (GAR) with goal-oriented requirements engineering (GORE). Using this approach, software engineers can determine what autonomic features to develop for a particular system (e.g., a space mission) as well as what artifacts that process might generate (e.g., goals models, requirements specification, etc.). The inputs required by this approach are the mission goals and the domain-specific GAR reflecting specifics of the mission class (e.g., interplanetary missions).

A map of urban tales. Laboratory Q, a place for urban creativity

OpenAIRE

Antonio Alanis Arroyo; María F. Carrascal Pérez; Plácido González Martínez

2015-01-01

Laboratory Q, a place for urban creativity is a research platform set up to study the contemporary city. Contained in a participatory virtual map are processes, spaces, and creative actions that took place in Seville between 1996 and 2012, the last part of which was defined by the economic crisis. This article is structured like a manifesto and presents the structural foundations that hold up the project. Each declaration works autonomously in relation to everything, describes the ideal strat...

Strategies for Sustainable Urban Development and Urban-Rural Linkages

DEFF Research Database (Denmark)

Nilsson, Kjell; Nielsen, Thomas Alexander Sick; Aalbers, Carmen

2014-01-01

of transport, land use and open space planning; (ii) urban containment and densification – development a green compact city; (iii) preservation of blue and green infrastructure; and (iv) preservation of agricultural land and the promotion of local production. The need also remains to strengthen governance......An important driving force behind urban expansion is the growth of the urban population. But for Europe, this is not a sufficient explanation. The major trend is that European cities have become much less compact. Since the mid-1950s European cities have expanded on average by 78%, whereas...... the population has grown by only 33%. In the PLUREL project - an integrated project within the EU’s 6th Research Framework Programme - more than 100 researchers from 15 countries analysed the impacts of urban land consumption at a pan-European level and, through six European and one Chinese case studies...

Fuel cell drive for a taxi; Brennstoffzellen-Antrieb fuer ein Elektro-Taxi

Energy Technology Data Exchange (ETDEWEB)

Barker, Phil; Rosario, Leon; Sharp, Jon; Pouzet, Axel [Lotus Engineering, Norfolk (United Kingdom)

2011-11-15

Together with some partners Lotus Engineering has developed a fuel cell drive for a taxi. The prototype uses a Lithium Polymer battery pack as the peak power source and is analysed as an alternative for diesel drives in urban areas with stringent emission regulations. (orig.)

Performance evaluation of 3D vision-based semi-autonomous control method for assistive robotic manipulator.

Science.gov (United States)

Ka, Hyun W; Chung, Cheng-Shiu; Ding, Dan; James, Khara; Cooper, Rory

2018-02-01

We developed a 3D vision-based semi-autonomous control interface for assistive robotic manipulators. It was implemented based on one of the most popular commercially available assistive robotic manipulator combined with a low-cost depth-sensing camera mounted on the robot base. To perform a manipulation task with the 3D vision-based semi-autonomous control interface, a user starts operating with a manual control method available to him/her. When detecting objects within a set range, the control interface automatically stops the robot, and provides the user with possible manipulation options through audible text output, based on the detected object characteristics. Then, the system waits until the user states a voice command. Once the user command is given, the control interface drives the robot autonomously until the given command is completed. In the empirical evaluations conducted with human subjects from two different groups, it was shown that the semi-autonomous control can be used as an alternative control method to enable individuals with impaired motor control to more efficiently operate the robot arms by facilitating their fine motion control. The advantage of semi-autonomous control was not so obvious for the simple tasks. But, for the relatively complex real-life tasks, the 3D vision-based semi-autonomous control showed significantly faster performance. Implications for Rehabilitation A 3D vision-based semi-autonomous control interface will improve clinical practice by providing an alternative control method that is less demanding physically as well cognitively. A 3D vision-based semi-autonomous control provides the user with task specific intelligent semiautonomous manipulation assistances. A 3D vision-based semi-autonomous control gives the user the feeling that he or she is still in control at any moment. A 3D vision-based semi-autonomous control is compatible with different types of new and existing manual control methods for ARMs.

Floral abundance, richness, and spatial distribution drive urban garden bee communities.

Science.gov (United States)

Plascencia, M; Philpott, S M

2017-10-01

In urban landscapes, gardens provide refuges for bee diversity, but conservation potential may depend on local and landscape features. Foraging and population persistence of bee species, as well as overall pollinator community structure, may be supported by the abundance, richness, and spatial distribution of floral resources. Floral resources strongly differ in urban gardens. Using hand netting and pan traps to survey bees, we examined whether abundance, richness, and spatial distribution of floral resources, as well as ground cover and garden landscape surroundings influence bee abundance, species richness, and diversity on the central coast of California. Differences in floral abundance and spatial distribution, as well as urban cover in the landscape, predicted different bee community variables. Abundance of all bees and of honeybees (Apis mellifera) was lower in sites with more urban land cover surrounding the gardens. Honeybee abundance was higher in sites with patchy floral resources, whereas bee species richness and bee diversity was higher in sites with more clustered floral resources. Surprisingly, bee species richness and bee diversity was lower in sites with very high floral abundance, possibly due to interactions with honeybees. Other studies have documented the importance of floral abundance and landscape surroundings for bees in urban gardens, but this study is the first to document that the spatial arrangement of flowers strongly predicts bee abundance and richness. Based on these findings, it is likely that garden managers may promote bee conservation by managing for floral connectivity and abundance within these ubiquitous urban habitats.

Autonomic Neuropathy

Science.gov (United States)

... risk of autonomic neuropathy. Other diseases. Amyloidosis, porphyria, hypothyroidism and cancer (usually due to side effects from treatment) may also increase the risk of autonomic neuropathy. ...

Efficient Multivariable Generalized Predictive Control for Autonomous Underwater Vehicle in Vertical Plane

OpenAIRE

Yao, Xuliang; Yang, Guangyi

2016-01-01

This paper presents the design and simulation validation of a multivariable GPC (generalized predictive control) for AUV (autonomous underwater vehicle) in vertical plane. This control approach has been designed in the case of AUV navigating with low speed near water surface, in order to restrain wave disturbance effectively and improve pitch and heave motion stability. The proposed controller guarantees compliance with rudder manipulation, AUV output constraints, and driving energy consumpti...

Quantifying the Driving Forces of Informal Urbanization in the Western Part of the Greater Cairo Metropolitan Region

Directory of Open Access Journals (Sweden)

Taher Osman

2016-06-01

Full Text Available This paper discusses the driving forces (DFs of informal urbanization (IU in the greater Cairo metropolitan region (GCMR using the Analytic Hierarchy Process (AHP. The IU patterns in the GCMR have been extremely influenced by seven DFs: geographical characteristics, availability of life facilities, economic incentives, land demand and supply, population increase, administrative function, and development plans. This research found that these forces vary significantly in how they influence urban growth in the three study sectors, namely, the middle, north, and south areas in the western part of the GCMR. The forces with the highest influence were economic incentives in the middle sector, population increase in the north sector, and the administrative function in the south sector. Due to the lower availability of buildable land in the middle sector, the land demand and supply force had a lesser influence in this sector compared to in the north and south sectors. The development plans force had medium influence in all sectors. The geographical characteristics force had little influence in both the middle and the north sectors, but higher influence than economic incentives, availability of life facilities, and development plans in the south sector. Because of the spatial variances in life facilities organizations in the GCMR, the life facilities availability force had little effect on IU in the south sector.

Microscopic Car Modeling for Intelligent Traffic and Scenario Generation in the UCF Driving Simulator : Year 2

Science.gov (United States)

2000-01-01

A multi-year project was initiated to introduce autonomous vehicles in the University of Central Florida (UCF) Driving Simulator for real-time interaction with the simulator vehicle. This report describes the progress during the second year. In the f...

The wildland-urban interface raster dataset of Catalonia

Directory of Open Access Journals (Sweden)

Fermín J. Alcasena

2018-04-01

Full Text Available We provide the wildland urban interface (WUI map of the autonomous community of Catalonia (Northeastern Spain. The map encompasses an area of some 3.21 million ha and is presented as a 150-m resolution raster dataset. Individual housing location, structure density and vegetation cover data were used to spatially assess in detail the interface, intermix and dispersed rural WUI communities with a geographical information system. Most WUI areas concentrate in the coastal belt where suburban sprawl has occurred nearby or within unmanaged forests. This geospatial information data provides an approximation of residential housing potential for loss given a wildfire, and represents a valuable contribution to assist landscape and urban planning in the region. Keywords: Wildland-urban interface, Wildfire risk, Urban planning, Human communities, Catalonia

Genetic autonomic disorders.

Science.gov (United States)

Axelrod, Felicia B

2013-03-01

Genetic disorders affecting the autonomic nervous system can result in abnormal development of the nervous system or they can be caused by neurotransmitter imbalance, an ion-channel disturbance or by storage of deleterious material. The symptoms indicating autonomic dysfunction, however, will depend upon whether the genetic lesion has disrupted peripheral or central autonomic centers or both. Because the autonomic nervous system is pervasive and affects every organ system in the body, autonomic dysfunction will result in impaired homeostasis and symptoms will vary. The possibility of genetic confirmation by molecular testing for specific diagnosis is increasing but treatments tend to remain only supportive and directed toward particular symptoms. Copyright © 2013 Elsevier Inc. All rights reserved.

Influence of driving style on fuel consumption and Emissions in diesel-powered passenger car

OpenAIRE

Fonseca González, Natalia Elizabeth; Casanova Kindelán, Jesús; Espinosa Zapata, Felipe

2010-01-01

This paper presents the main results of a study on the influence of driving style on fuel consumption and pollutant emissions of diesel passenger car in urban traffic. Driving styles (eco, normal or aggressive) patterns were based on the “eco-driving” criteria. The methodology is based on on-board emission measurements in real urban traffic in the city of Madrid. Five diesel passenger cars, have been tested. Through a statistical analysis, a Dynamic Performance Index was defined for die...

Patients With Fibromyalgia Have Significant Autonomic Symptoms But Modest Autonomic Dysfunction.

Science.gov (United States)

Vincent, Ann; Whipple, Mary O; Low, Phillip A; Joyner, Michael; Hoskin, Tanya L

2016-05-01

Research suggests that disordered autonomic function may be one contributor to deconditioning reported in fibromyalgia; however, no study to date has assessed these variables simultaneously with comprehensive measures. To characterize physical fitness and autonomic function with the use of clinically validated measures and subjective questionnaires between patients with fibromyalgia and healthy controls. Cross-sectional, observational, controlled study. Community sample of patients with fibromyalgia and healthy controls. Thirty patients with fibromyalgia and 30 pain and fatigue-free controls. Participants completed a battery of self-report questionnaires and physiological measures, including clinically validated measures of physical fitness and autonomic function. Six-Minute Walk Test total distance, maximal oxygen consumption as assessed by cardiopulmonary exercise testing, total steps using activity monitor, Composite Autonomic Scoring Scale as assessed by Autonomic Reflex Screen, total metabolic equivalents per week using the International Physical Activity Questionnaire, and self-reported autonomic symptoms via the 31-item Composite Autonomic Symptom Score questionnaire. Autonomic function, as assessed by self-report, was significantly different between patients and controls (P physical activity was not significantly different between patients and controls (P = .99), but levels of moderate and vigorous physical activity as measured by actigraphy were significantly lower in patients (P = .012 and P = .047, respectively). Exercise capacity (6-Minute Walk) was poorer in patients (P = .0006), but there was no significant difference in maximal volume of oxygen consumption (P = .07). Patients with fibromyalgia report more severe symptoms across all domains, including physical activity and autonomic symptoms, compared with controls, but the objective assessments only showed modest differences. Our results suggest that patients with widespread subjective impairment of

A meta-analysis of global urban land expansion.

Science.gov (United States)

Seto, Karen C; Fragkias, Michail; Güneralp, Burak; Reilly, Michael K

2011-01-01

The conversion of Earth's land surface to urban uses is one of the most irreversible human impacts on the global biosphere. It drives the loss of farmland, affects local climate, fragments habitats, and threatens biodiversity. Here we present a meta-analysis of 326 studies that have used remotely sensed images to map urban land conversion. We report a worldwide observed increase in urban land area of 58,000 km(2) from 1970 to 2000. India, China, and Africa have experienced the highest rates of urban land expansion, and the largest change in total urban extent has occurred in North America. Across all regions and for all three decades, urban land expansion rates are higher than or equal to urban population growth rates, suggesting that urban growth is becoming more expansive than compact. Annual growth in GDP per capita drives approximately half of the observed urban land expansion in China but only moderately affects urban expansion in India and Africa, where urban land expansion is driven more by urban population growth. In high income countries, rates of urban land expansion are slower and increasingly related to GDP growth. However, in North America, population growth contributes more to urban expansion than it does in Europe. Much of the observed variation in urban expansion was not captured by either population, GDP, or other variables in the model. This suggests that contemporary urban expansion is related to a variety of factors difficult to observe comprehensively at the global level, including international capital flows, the informal economy, land use policy, and generalized transport costs. Using the results from the global model, we develop forecasts for new urban land cover using SRES Scenarios. Our results show that by 2030, global urban land cover will increase between 430,000 km(2) and 12,568,000 km(2), with an estimate of 1,527,000 km(2) more likely.

Urban water metabolism efficiency assessment: integrated analysis of available and virtual water.

Science.gov (United States)

Huang, Chu-Long; Vause, Jonathan; Ma, Hwong-Wen; Yu, Chang-Ping

2013-05-01

Resolving the complex environmental problems of water pollution and shortage which occur during urbanization requires the systematic assessment of urban water metabolism efficiency (WME). While previous research has tended to focus on either available or virtual water metabolism, here we argue that the systematic problems arising during urbanization require an integrated assessment of available and virtual WME, using an indicator system based on material flow analysis (MFA) results. Future research should focus on the following areas: 1) analysis of available and virtual water flow patterns and processes through urban districts in different urbanization phases in years with varying amounts of rainfall, and their environmental effects; 2) based on the optimization of social, economic and environmental benefits, establishment of an indicator system for urban WME assessment using MFA results; 3) integrated assessment of available and virtual WME in districts with different urbanization levels, to facilitate study of the interactions between the natural and social water cycles; 4) analysis of mechanisms driving differences in WME between districts with different urbanization levels, and the selection of dominant social and economic driving indicators, especially those impacting water resource consumption. Combinations of these driving indicators could then be used to design efficient water resource metabolism solutions, and integrated management policies for reduced water consumption. Copyright © 2013 Elsevier B.V. All rights reserved.

Adaptive measurements of urban runoff quality

Science.gov (United States)

Wong, Brandon P.; Kerkez, Branko

2016-11-01

An approach to adaptively measure runoff water quality dynamics is introduced, focusing specifically on characterizing the timing and magnitude of urban pollutographs. Rather than relying on a static schedule or flow-weighted sampling, which can miss important water quality dynamics if parameterized inadequately, novel Internet-enabled sensor nodes are used to autonomously adapt their measurement frequency to real-time weather forecasts and hydrologic conditions. This dynamic approach has the potential to significantly improve the use of constrained experimental resources, such as automated grab samplers, which continue to provide a strong alternative to sampling water quality dynamics when in situ sensors are not available. Compared to conventional flow-weighted or time-weighted sampling schemes, which rely on preset thresholds, a major benefit of the approach is the ability to dynamically adapt to features of an underlying hydrologic signal. A 28 km2 urban watershed was studied to characterize concentrations of total suspended solids (TSS) and total phosphorus. Water quality samples were autonomously triggered in response to features in the underlying hydrograph and real-time weather forecasts. The study watershed did not exhibit a strong first flush and intraevent concentration variability was driven by flow acceleration, wherein the largest loadings of TSS and total phosphorus corresponded with the steepest rising limbs of the storm hydrograph. The scalability of the proposed method is discussed in the context of larger sensor network deployments, as well the potential to improving control of urban water quality.

Loss minimization control and efficiency determination of electric drives in traction applications

Energy Technology Data Exchange (ETDEWEB)

Windisch, Thomas; Hofmann, Wilfried [Technische Univ. Dresden (Germany). Lehrstuhl fuer Elektrische Maschinen und Antriebe

2012-11-01

High-power electric drives in automotive traction applications consume a large part of the disposable electric energy. For this reason the energy efficiency of the drives is of great importance for range and fuel consumption of the hybrid electric vehicle. The paper describes two possible drives with different electric motors from a control point of view. The electric power losses in the drive system are determined depending on the operating point of the machine. With these loss characteristics the control of the drives is optimized to produce minimal losses. Finally the energy efficiency for a realistic urban bus drive cycle is calculated to compare the two types. (orig.)

Viewing nature scenes positively affects recovery of autonomic function following acute-mental stress.

Science.gov (United States)

Brown, Daniel K; Barton, Jo L; Gladwell, Valerie F

2013-06-04

A randomized crossover study explored whether viewing different scenes prior to a stressor altered autonomic function during the recovery from the stressor. The two scenes were (a) nature (composed of trees, grass, fields) or (b) built (composed of man-made, urban scenes lacking natural characteristics) environments. Autonomic function was assessed using noninvasive techniques of heart rate variability; in particular, time domain analyses evaluated parasympathetic activity, using root-mean-square of successive differences (RMSSD). During stress, secondary cardiovascular markers (heart rate, systolic and diastolic blood pressure) showed significant increases from baseline which did not differ between the two viewing conditions. Parasympathetic activity, however, was significantly higher in recovery following the stressor in the viewing scenes of nature condition compared to viewing scenes depicting built environments (RMSSD; 50.0 ± 31.3 vs 34.8 ± 14.8 ms). Thus, viewing nature scenes prior to a stressor alters autonomic activity in the recovery period. The secondary aim was to examine autonomic function during viewing of the two scenes. Standard deviation of R-R intervals (SDRR), as change from baseline, during the first 5 min of viewing nature scenes was greater than during built scenes. Overall, this suggests that nature can elicit improvements in the recovery process following a stressor.

Semi-Autonomous Systems Laboratory

Data.gov (United States)

Federal Laboratory Consortium — VisionThe Semi-Autonomous Systems Lab focuses on developing a comprehensive framework for semi-autonomous coordination of networked robotic systems. Semi-autonomous...

Visual search and urban driving under the influence of marijuana and alcohol.

Science.gov (United States)

Lamers, C. T. J.; Ramaekers, J. G.

2001-07-01

The purpose of the present study was to assess the effects of low doses of marijuana and alcohol, and their combination, on visual search at intersections and on general driving proficiency in the City Driving Test. Sixteen recreational users of alcohol and marijuana (eight males and eight females) were treated with these substances or placebo according to a balanced, 4-way, cross-over, observer- and subject-blind design. On separate evenings, subjects received weight-calibrated doses of THC, alcohol or placebo in each of the following treatment conditions: alcohol placebo + THC placebo, alcohol + THC placebo, THC 100 &mgr;g/kg + alcohol placebo, THC 100 &mgr;g/kg + alcohol. Alcohol doses administered were sufficient for achieving a blood alcohol concentration (BAC) of about 0.05 g/dl. Initial drinking preceded smoking by one hour. The City Driving Test commenced 15 minutes after smoking and lasted 45 minutes. The test was conducted over a fixed route within the city limits of Maastricht. An eye movement recording system was mounted on each subject's head for providing relative frequency measures of appropriate visual search at intersections. General driving quality was rated by a licensed driving instructor on a shortened version of the Royal Dutch Tourist Association's Driving Proficiency Test. After placebo treatment subjects searched for traffic approaching from side streets on the right in 84% of all cases. Visual search frequency in these subjects did not change when they were treated with alcohol or marijuana alone. However, when treated with the combination of alcohol and marijuana, the frequency of visual search dropped by 3%. Performance as rated on the Driving Proficiency Scale did not differ between treatments. It was concluded that the effects of low doses of THC (100 &mgr;g/kg) and alcohol (BAC < 0.05 g/dl) on higher-level driving skills as measured in the present study are minimal. Copyright 2001 John Wiley & Sons, Ltd.

Autonomous generator based on Ni-Mn-Ga microactuator as a frequency selective element

Directory of Open Access Journals (Sweden)

Barandiaran J.M.

2013-01-01

Full Text Available In this work, we suggest the temperature-induced resistivity change at the martensitic transformation in the Ni-Mn-Ga ferromagnetic shape memory alloy as a driving mechanism enabling periodic signal generation. We demonstrated its practical importance by a design of the prototype of a low-frequency autonomous generator. A prominent feature of this new generator is a control of its frequency by the external magnetic field.

Reading the Freudian theory of sexual drives from a functional neuroimaging perspective

Directory of Open Access Journals (Sweden)

Serge eStoléru

2014-03-01

Full Text Available One of the essential tasks of neuropsychoanalysis is to investigate the neural correlates of sexual drives. Here, we consider the four defining characteristics of sexual drives as delineated by Freud: their pressure, aim, object, and source. We systematically examine the relations between these characteristics and the four-component neurophenomenological model that we have proposed based on functional neuroimaging studies, which comprises a cognitive, a motivational, an emotional and an autonomic/neuroendocrine component. Functional neuroimaging studies of sexual arousal have thrown a new light on the four fundamental characteristics of sexual drives by identifying their potential neural correlates. While these studies are essentally consistent with the Freudian model of drives, the main difference emerging between the functional neuroimaging perspective on sexual drives and the Freudian theory relates to the source of drives. From a functional neuroimaging perspective sources of sexual drives, conceived by psychoanalysis as processes of excitation occurring in a peripheral organ, do not seem, at least in adult subjects, to be an essential part of the determinants of sexual arousal. It is rather the central processing of visual or genital stimuli that gives to these stimuli their sexually arousing and sexually pleasurable character.

Land expropriation in urbanizing China

DEFF Research Database (Denmark)

Wang, Hui; Zhu, Pengyu; Chen, Xiao Qing

2017-01-01

A driving force of urban development is “accumulation by dispossession” which occurs through expropriation, privatization, and commodification of land. While the macro theory is now well refined, there is still much we do not know about how the underlying processes occur and how they shape economic...... development and urbanization. In this study, we analyze 2009 survey data of land expropriation cases across 12 Chinese cities, and find that expropriation takes different forms leading to specific outcomes. In half the cases, local governments followed central government policies requiring them to pay...... undermines urban development leading to social instability....

The Rise of Self-Driving Cars: Is the Private International Law Framework for non-contractual obligations posing a bump in the road?

Directory of Open Access Journals (Sweden)

Jan De Bruyne

2018-02-01

Full Text Available This article focusses on some implications related to the commercialisation of self-driving or autonomous cars. Such vehicles are no longer a mere futuristic idea. They could soon be available on the market. Society in general and the applicable rules in particular will undergo a transformation following the introduction of autonomous vehicles. Despite the many benefits, self-driving cars also pose several challenges. These do not only relate to technical aspects but also to the influence of the autonomisation of traffic on infrastructure and employment in different sectors. More importantly, several legal challenges will need to be addressed as well before society will be able to fully enjoy the benefits of self-driving cars. The question as to who should be held liable for damage caused by self-driving car has already been addressed in academia. Less attention has been devoted to the relationship between autonomous vehicles and the existing private international law rules in the European Union. Although the application of the current jurisdictional and conflict of laws rules does not present problems, the membership of some EU Member States of the 1971 Hague Traffic Accidents Convention and/or the 1973 Hague Products Liability Convention impedes the harmonisation of conflict of laws rules in non-contractual matters as envisaged by the Rome II Regulation. In cases concerning liability arising from traffic accidents and in product liability cases, different Member States courts sometimes apply a different national law. This reduces foreseeability and legal certainty.

Psycho-physiological response of soldiers in urban combat

Directory of Open Access Journals (Sweden)

Vicente J. Clemente-Suárez

2013-05-01

Full Text Available Current armed conflicts are asymmetrical and are developed m urban areas. These new requirements have not been studied for current literature. The aim of this study was to analyse changes in cortical arousal, blood lactate, muscle strength, autonomic modulation and rate of perceived exertion in a simulated urban combat. We analyzed 20 soldiers before and after an urban combat simulation. The results showed how urban combat produced high sympathetic nervous system activation, increasing the muscle strength, heart rate and blood lactate concentration of the soldiers. Despite this effort, rate of perceived exertion were not consistent with the physiological response that soldiers presented, the rate of perceived exertion was lower than the physiological response evaluated. Furthermore, the information processing and cortical arousal decreased after the urban combat simulation. These results have showed the psycho-physiological response of soldiers in combat, helping to better understanding and enabling an improvement of current training methods of soldiers.

Multi-Agent Based Microscopic Simulation Modeling for Urban Traffic Flow

Directory of Open Access Journals (Sweden)

Xianyan Kuang

2014-10-01

Full Text Available Traffic simulation plays an important role in the evaluation of traffic decisions. The movement of vehicles essentially is the operating process of drivers, in order to reproduce the urban traffic flow from the micro-aspect on computer, this paper establishes an urban traffic flow microscopic simulation system (UTFSim based on multi-agent. The system is seen as an intelligent virtual environment system (IVES, and the four-layer structure of it is built. The road agent, vehicle agent and signal agent are modeled. The concept of driving trajectory which is divided into LDT (Lane Driving Trajectory and VDDT (Vehicle Dynamic Driving Trajectory is introduced. The “Link-Node” road network model is improved. The driving behaviors including free driving, following driving, lane changing, slowing down, vehicle stop, etc. are analyzed. The results of the signal control experiments utilizing the UTFSim developed in the platform of Visual Studio. NET indicates that it plays a good performance and can be used in the evaluation of traffic management and control.

Age and inconsistency in driving performance.

Science.gov (United States)

Bunce, David; Young, Mark S; Blane, Alison; Khugputh, Priya

2012-11-01

Research in cognitive neuropsychology suggests that investigation of the within-person variability, or inconsistency, of cognitive performance may provide valuable insights into ageing mental processes. It is rare though, for this interest in intraindividual variability to extend to everyday activities. As this may provide important information about driving behaviour, we therefore assessed age differences in driving inconsistency in younger (n=24, M age=21.29 years) and older (n=21, M age=71.24 years) persons who drove in residential, urban and motorway conditions in a fully immersive driving simulator. In measures of headway (maintaining a safe distance to a preceding vehicle) and lateral lane position, older drivers exhibited significantly greater performance inconsistency, and this was particularly marked in the faster motorway condition. Older drivers also recorded greater perceived mental demands associated with driving, and greater within-person variability across a range of cognitive measures. The findings suggest that age-related deficits in attentional and executive control may affect the consistency of driving performance in older persons. Discussion considers interventions to introduce in-vehicle systems to help maintain attention in older drivers, and to intervene when safety-critical boundaries are exceeded. Copyright © 2012 Elsevier Ltd. All rights reserved.

Simulating urban growth in the George town conurbation | Samat ...

African Journals Online (AJOL)

Journal of Fundamental and Applied Sciences ... Therefore, this paper aims to develop an urban growth simulation model using GIS-based CA-Markov approach, incorporated with driving forces of urban growth in the Malaysian context. ... Keywords: CA-Markov; Geograpghic Information Sciences (GIS); Land use changes;

Novel Intersection Type Recognition for Autonomous Vehicles Using a Multi-Layer Laser Scanner.

Science.gov (United States)

An, Jhonghyun; Choi, Baehoon; Sim, Kwee-Bo; Kim, Euntai

2016-07-20

There are several types of intersections such as merge-roads, diverge-roads, plus-shape intersections and two types of T-shape junctions in urban roads. When an autonomous vehicle encounters new intersections, it is crucial to recognize the types of intersections for safe navigation. In this paper, a novel intersection type recognition method is proposed for an autonomous vehicle using a multi-layer laser scanner. The proposed method consists of two steps: (1) static local coordinate occupancy grid map (SLOGM) building and (2) intersection classification. In the first step, the SLOGM is built relative to the local coordinate using the dynamic binary Bayes filter. In the second step, the SLOGM is used as an attribute for the classification. The proposed method is applied to a real-world environment and its validity is demonstrated through experimentation.

Scenarios for a urban energy transition. Actors, regulations, technologies

International Nuclear Information System (INIS)

Debizet, Gilles; Blanco, Sylvie; Buclet, Nicolas; Forest, Fabrice; Gauthier, Caroline; La Branche, Stephane; Menanteau, Philippe; Schneuwly, Patrice; Tabourdeau, Antoine

2016-01-01

Cities concentrate populations, consumptions, levers of actions, and are places of various experiments for energy transition. This book aims at giving an overview of possible scenarios of development of renewable energies in urban context. It is based on interviews of actors of the energy, building and urban planning sectors by researchers in town planning, management, technology, political and economic sciences. The authors examine what would occur if large companies would manage entire quarters, if local authorities would supervise production and supply, if the State would take control of all fields of action again, or if consumer cooperatives would exchange energy and pool productions. In its different chapters, the book presents four scenarios of energy coordination in urban context by 2040, discuss energy transition in urban spaces, discuss the perspectives of evolution towards more autonomous cities and quarters from an energetic point of view, and discuss business models and urban energetic innovations

The Urban Nexus: Contradictions and Dilemmas of (PostCommunist (SubUrbanization in Romania

Directory of Open Access Journals (Sweden)

Liliana Dumitrache

2016-05-01

Full Text Available The process of urbanization in Romania was a very tumultuous and slightly different one compared to other Central and Eastern European countries, being marked by the constant willingness to increase the degree of urbanization. The communist period was the most significant from this point of view, by considering both the number of newly declared towns and urban population growth. The urbanization of communist era corroborated with the excessive and forced industrialization has generated imbalances in the urban system and created distortions in the urban hierarchy. However, the legislative inconsistency and the lack of urban regulations during the post – communist period have lead to the increasing number of new (quasi urban units (many of which without urban amenities to the chaotic sub-urbanization of cities and urban decline. In many cases, the ability of local authorities to manage the urban development in the early years of transition has been hampered by inadequate legislation that regulates the urban growth in a completely different socio-economic system. Thus, the lacks of specific urban policies and urban regeneration plans have determined indirectly a hypertrophic evolution and an uncontrolled suburban expansion. Bucharest, the capital of the country has been most affected by these processes determining multilayered space transformation within the city and open space conversion to commercial and residential use, both affecting the urban environment and quality of life of urban-rural communities. The paper focuses on the patterns, the driving forces and the consequences of two opposing processes: socialist forced urbanization vs. post-socialist chaotic urbanization unfolding across the national urban landscape.

Auditory driving of the autonomic nervous system: Listening to theta-frequency binaural beats post-exercise increases parasympathetic activation and sympathetic withdrawal

OpenAIRE

Patrick eMcConnell; Patrick eMcConnell; Brett eFroeliger; Eric L. Garland; Jeffrey C. Ives; Gary A. Sforzo

2014-01-01

Binaural beats are an auditory illusion perceived when two or more pure tones of similar frequencies are presented dichotically through stereo headphones. Although this phenomenon is thought to facilitate state changes (e.g., relaxation), few empirical studies have reported on whether binaural beats produce changes in autonomic arousal. Therefore, the present study investigated the effects of binaural beating on autonomic dynamics (heart-rate variability (HRV)) during post-exercise relaxation...

Auditory driving of the autonomic nervous system: Listening to theta-frequency binaural beats post-exercise increases parasympathetic activation and sympathetic withdrawal

OpenAIRE

McConnell, Patrick A.; Froeliger, Brett; Garland, Eric L.; Ives, Jeffrey C.; Sforzo, Gary A.

2014-01-01

Binaural beats are an auditory illusion perceived when two or more pure tones of similar frequencies are presented dichotically through stereo headphones. Although this phenomenon is thought to facilitate state changes (e.g., relaxation), few empirical studies have reported on whether binaural beats produce changes in autonomic arousal. Therefore, the present study investigated the effects of binaural beating on autonomic dynamics [heart rate variability (HRV)] during post-exercise relaxation...

Increased body size along urbanization gradients at both community and intraspecific level in macro-moths.

Science.gov (United States)

Merckx, Thomas; Kaiser, Aurélien; Van Dyck, Hans

2018-05-23

Urbanization involves a cocktail of human-induced rapid environmental changes and is forecasted to gain further importance. Urban-heat-island effects result in increased metabolic costs expected to drive shifts towards smaller body sizes. However, urban environments are also characterized by strong habitat fragmentation, often selecting for dispersal phenotypes. Here, we investigate to what extent, and at which spatial scale(s), urbanization drives body size shifts in macro-moths-an insect group characterized by positive size-dispersal links-at both the community and intraspecific level. Using light and bait trapping as part of a replicated, spatially nested sampling design, we show that despite the observed urban warming of their woodland habitat, macro-moth communities display considerable increases in community-weighted mean body size because of stronger filtering against small species along urbanization gradients. Urbanization drives intraspecific shifts towards increased body size too, at least for a third of species analysed. These results indicate that urbanization drives shifts towards larger, and hence, more mobile species and individuals in order to mitigate low connectivity of ecological resources in urban settings. Macro-moths are a key group within terrestrial ecosystems, and since body size is central to species interactions, such urbanization-driven phenotypic change may impact urban ecosystem functioning, especially in terms of nocturnal pollination and food web dynamics. Although we show that urbanization's size-biased filtering happens simultaneously and coherently at both the inter- and intraspecific level, we demonstrate that the impact at the community level is most pronounced at the 800 m radius scale, whereas species-specific size increases happen at local and landscape scales (50-3,200 m radius), depending on the species. Hence, measures-such as creating and improving urban green infrastructure-to mitigate the effects of urbanization on

Drivers' perceptions regarding speeding and driving on urban residential streets with a 30 km/h speed limit

Directory of Open Access Journals (Sweden)

Do Duy Dinh

2013-07-01

Full Text Available Previous studies have shown very little information regarding drivers' opinions, attitudes and behaviours with respect to speeding and driving on urban residential streets with a 30 km/h speed limit. The present research aims to address this issue by conducting a questionnaire study with a sample of 367 Japanese drivers. The results showed that drivers tended to have positive beliefs about complying with the 30 km/h speed limit and understand the negative consequences of speeding; however, a majority of the drivers considered breaking the speed limit as a way to reduce their travel time. While the extent of speeding was found to be very serious, a number of drivers still supported the use of a 30 km/h speed limit on residential streets and favoured protecting the right of vulnerable street users. The logistic regression models developed in this study identified that the drivers who did not support the 30 km/h speed limit were associated with those who had committed traffic-law violations, who had negative beliefs about complying with the speed limit, who did not consider residents' opinions, who believed it is acceptable for them to drive at a high speed, and who felt it difficult to refrain from speeding. With regard to anti-speeding countermeasures, under drivers' point of view, streets should be designed to make the 30 km/h speed limit more credible, although this study also showed evidence supporting the application of public awareness programmes and social campaigns as speeding interventions. In addition, this research investigated drivers' speed choices in various specific driving circumstances, and six underlying factors affecting drivers' speed choices were determined. On the basic of the findings, the implications and suggestions for speeding interventions were also discussed.

Urban Gerontological. Challenges of urban planning for the aging population of Mexico / Urbanismo Gerontológico. Retos de la planificación urbana ante el envejecimiento de la población de México

OpenAIRE

Diego Sánchez González

2012-01-01

Book Review: "Urban Gerontology. Population aging and urban facilities. The case of the city of Aguascalientes, "Oscar Narvaez Luis Montoya (2011). Aguascalientes Autonomous University of Aguascalientes. Reseña del libro: “Urbanismo Gerontológico. Envejecimiento demográfico y equipamiento urbano. El caso de la ciudad de Aguascalientes”, de Oscar Luis Narvaez Montoya (2011). Aguascalientes: Universidad Autónoma de Aguascalientes.

Restoration treatments in urban park forests drive long-term changes in vegetation trajectories.

Science.gov (United States)

Johnson, Lea R; Handel, Steven N

2016-04-01

Municipalities are turning to ecological restoration of urban forests as a measure to improve air quality, ameliorate urban heat island effects, improve storm water infiltration, and provide other social and ecological benefits. However, community dynamics following urban forest restoration treatments are poorly documented. This study examines the long-term effects of ecological restoration undertaken in New York City, New York, USA, to restore native forest in urban park natural areas invaded by woody non-native plants that are regional problems. In 2009 and 2010, we sampled vegetation in 30 invaded sites in three large public parks that were restored 1988-1993, and 30 sites in three large parks that were similarly invaded but had not been restored. Data from these matched plots reveal that the restoration treatment achieved its central goals. After 15-20 years, invasive species removal followed by native tree planting resulted in persistent structural and compositional shifts, significantly lower invasive species abundance, a more complex forest structure, and greater native tree recruitment. Together, these findings indicate that successional trajectories of vegetation dynamics have diverged between restored forests and invaded forests that were not restored. In addition, the data suggest that future composition of these urban forest patches will be novel assemblages. Restored and untreated sites shared a suite of shade-intolerant, quickly-growing tree species that colonize disturbed sites, indicating that restoration treatments created sites hospitable for germination and growth of species adapted to high light conditions and disturbed soils. These findings yield an urban perspective on the use of succession theory in ecological restoration. Models of ecological restoration developed in more pristine environments must be modified for use in cities. By anticipating both urban disturbances and ecological succession, management of urban forest patches can be

A learning-based semi-autonomous controller for robotic exploration of unknown disaster scenes while searching for victims.

Science.gov (United States)

Doroodgar, Barzin; Liu, Yugang; Nejat, Goldie

2014-12-01

Semi-autonomous control schemes can address the limitations of both teleoperation and fully autonomous robotic control of rescue robots in disaster environments by allowing a human operator to cooperate and share such tasks with a rescue robot as navigation, exploration, and victim identification. In this paper, we present a unique hierarchical reinforcement learning-based semi-autonomous control architecture for rescue robots operating in cluttered and unknown urban search and rescue (USAR) environments. The aim of the controller is to enable a rescue robot to continuously learn from its own experiences in an environment in order to improve its overall performance in exploration of unknown disaster scenes. A direction-based exploration technique is integrated in the controller to expand the search area of the robot via the classification of regions and the rubble piles within these regions. Both simulations and physical experiments in USAR-like environments verify the robustness of the proposed HRL-based semi-autonomous controller to unknown cluttered scenes with different sizes and varying types of configurations.

Surface urban heat island across 419 global big cities.

Science.gov (United States)

Peng, Shushi; Piao, Shilong; Ciais, Philippe; Friedlingstein, Pierre; Ottle, Catherine; Bréon, François-Marie; Nan, Huijuan; Zhou, Liming; Myneni, Ranga B

2012-01-17

Urban heat island is among the most evident aspects of human impacts on the earth system. Here we assess the diurnal and seasonal variation of surface urban heat island intensity (SUHII) defined as the surface temperature difference between urban area and suburban area measured from the MODIS. Differences in SUHII are analyzed across 419 global big cities, and we assess several potential biophysical and socio-economic driving factors. Across the big cities, we show that the average annual daytime SUHII (1.5 ± 1.2 °C) is higher than the annual nighttime SUHII (1.1 ± 0.5 °C) (P < 0.001). But no correlation is found between daytime and nighttime SUHII across big cities (P = 0.84), suggesting different driving mechanisms between day and night. The distribution of nighttime SUHII correlates positively with the difference in albedo and nighttime light between urban area and suburban area, while the distribution of daytime SUHII correlates negatively across cities with the difference of vegetation cover and activity between urban and suburban areas. Our results emphasize the key role of vegetation feedbacks in attenuating SUHII of big cities during the day, in particular during the growing season, further highlighting that increasing urban vegetation cover could be one effective way to mitigate the urban heat island effect.

Detection of moving objects from a moving platform in urban scenes

NARCIS (Netherlands)

Haar, F.B. ter; Hollander, R.J.M. den; Dijk, J.

2010-01-01

Moving object detection in urban scenes is important for the guidance of autonomous vehicles, robot navigation, and monitoring. In this paper moving objects are automatically detected using three sequential frames and tracked over a longer period. To this extend we modify the plane+parallax,

Autonomous navigation for low-altitude UAVs in urban areas

OpenAIRE

Castelli, Thomas; Sharghi, Aidean; Harper, Don; Tremeau, Alain; Shah, Mubarak

2016-01-01

In recent years, consumer Unmanned Aerial Vehicles have become very popular, everyone can buy and fly a drone without previous experience, which raises concern in regards to regulations and public safety. In this paper, we present a novel approach towards enabling safe operation of such vehicles in urban areas. Our method uses geodetically accurate dataset images with Geographical Information System (GIS) data of road networks and buildings provided by Google Maps, to compute a weighted A* sh...

Motion Planning in Dynamic Environments with Application to Self-Driving Vehicles

OpenAIRE

Schwesinger, Ulrich

2017-01-01

This thesis is concerned with the development of trajectory planning approaches targeting autonomous driving applications in dynamic environments shared with other traffic participants. The goal is to enable mobile robots to operate in challenging environments, characterized by narrow spaces and close proximity of other agents. With their broad range of private and commercial applications reaching from logistics to valet parking to name a few, driverless vehicles have gained increasing at...

Near-term hybrid vehicle program, phase 1. Appendix B: Design trade-off studies. [various hybrid/electric power train configurations and electrical and mechanical drive-line components

Science.gov (United States)

1979-01-01

The relative attractiveness of various hybrid/electric power train configurations and electrical and mechanical drive-line components was studied. The initial screening was concerned primarily with total vehicle weight and economic factors and identified the hybrid power train combinations which warranted detailed evaluation over various driving cycles. This was done using a second-by-second vehicle simulation program which permitted the calculations of fuel economy, electricity usage, and emissions as a function of distance traveled in urban and highway driving. Power train arrangement possibilities were examined in terms of their effect on vehicle handling, safety, serviceability, and passenger comfort. A dc electric drive system utilizing a separately excited motor with field control and battery switching was selected for the near term hybrid vehicle. Hybrid vehicle simulations showed that for the first 30 mi (the electric range of the vehicle) in urban driving, the fuel economy was 80 mpg using a gasoline engine and 100 mpg using a diesel engine. In urban driving the hybrid would save about 75% of the fuel used by the conventional vehicle and in combined urban/highway driving the fuel saving is about 50%.

Air quality and urban management in Europe

Energy Technology Data Exchange (ETDEWEB)

Alberti, M. [Stanford Univ. (United States). Center for Conservation Biology; Joffre, S. [Finnish Meteorological Inst., Helsinki (Finland)

1995-12-31

Important changes in the quality of urban air have occurred in Europe during the last 20 years. Urban air quality trends are clearly correlated to changes in production and consumption processes which have occurred in European cities during the last decades. However, the way these trends are linked with the changes in the urban structure is not yet fully appreciated. A set of indicators is proposed to examine the relationships between air quality, energy consumption and transportation trends. On this basis is argued that the current decentralization of the urban structure and specialization of land use are major driving forces in current urban air pollution. The range of actions and tools to improve urban air quality should include: (1) land use planning, (2) efficient urban management, and (3) measures directed to protecting the quality of the urban environment. (author)

Air quality and urban management in Europe

Energy Technology Data Exchange (ETDEWEB)

Alberti, M [Stanford Univ. (United States). Center for Conservation Biology; Joffre, S [Finnish Meteorological Inst., Helsinki (Finland)

1996-12-31

Important changes in the quality of urban air have occurred in Europe during the last 20 years. Urban air quality trends are clearly correlated to changes in production and consumption processes which have occurred in European cities during the last decades. However, the way these trends are linked with the changes in the urban structure is not yet fully appreciated. A set of indicators is proposed to examine the relationships between air quality, energy consumption and transportation trends. On this basis is argued that the current decentralization of the urban structure and specialization of land use are major driving forces in current urban air pollution. The range of actions and tools to improve urban air quality should include: (1) land use planning, (2) efficient urban management, and (3) measures directed to protecting the quality of the urban environment. (author)

Correlations between Socioeconomic Drivers and Indicators of Urban Expansion: Evidence from the Heavily Urbanised Shanghai Metropolitan Area, China

Directory of Open Access Journals (Sweden)

Jinghui Li

2017-07-01

Full Text Available Rapid urban expansion resulting in increased impervious surfaces causes a series of urban environmental problems, e.g., the urban heat island and urban forest fragmentation. Urban expansion is a serious threat to human quality of life and living environments. It has been studied from a variety of aspects, but its driving factors and time series expansion characteristics (i.e., expansion intensity, pattern and direction need to be better explained in order to devise more effective management strategies. This study examined how social and economic factors are linked in driving urban expansion. Based on multi-temporal aerial images, a rapid urban expansion period, 2000–2010, in Shanghai was analysed. The urban area expanded from 1770.36 to 2855.44 km2 in the period, with a mean annual expansion rate of 108.51 km2. Urban expansion in 2000–2005 (40.42% was much faster than in 2005–2010 (14.86%, and its direction was southeast, southwest and south. The main pattern was edge expansion in both sub-periods. Social factors, especially population density, significantly affected urban expansion. These findings can help understand the urban expansion process and its driving factors, which has important implications for urban planning and management in Shanghai and similar cities.

Reactive Planning of Autonomous Vehicles for Traffic Scenarios

Directory of Open Access Journals (Sweden)

Rahul Kala

2015-10-01

Full Text Available Autonomous vehicles operate in real time traffic scenarios and aim to reach their destination from their source in the most efficient manner possible. Research in mobile robotics provides a variety of sophisticated means with which to plan the path of these vehicles. Conversely professional human drivers usually drive using instinctive means, which enables them to reach their goal almost optimally whilst still obeying all traffic laws. In this paper we propose the use of fuzzy logic for novel motion planning. The planner is generated using an evolutionary algorithm which resembles the learning stage of professional drivers. Whether to overtake or not, is a decision which affects one’s driving and the decision is made using some deliberation. We further extend the approach to perform decision making regarding overtaking for all vehicles. Further we coordinate the motion of the vehicles at a traffic crossing to avoid any potential jam or collision. Experimental results prove that by using this approach we have been able to make the vehicles move in an optimal manner in a variety of scenarios.

Autonomous Navigation and Obstacle Avoidance of a Micro-Bus

Directory of Open Access Journals (Sweden)

Carlos Fernández

2013-04-01

Full Text Available At present, the topic of automated vehicles is one of the most promising research areas in the field of Intelligent Transportation Systems (ITS. The use of automated vehicles for public transportation also contributes to reductions in congestion levels and to improvements in traffic flow. Moreover, electrical public autonomous vehicles are environmentally friendly, provide better air quality and contribute to energy conservation. The driverless public transportation systems, which are at present operating in some airports and train stations, are restricted to dedicated roads and exhibit serious trouble dynamically avoiding obstacles in the trajectory. In this paper, an electric autonomous mini-bus is presented. All datasets used in this article were collected during the experiments carried out in the demonstration event of the 2012 IEEE Intelligent Vehicles Symposium that took place in Alcalá de Henares (Spain. The demonstration consisted of a route 725 metres long containing a list of latitude-longitude points (waypoints. The mini-bus was capable of driving autonomously from one waypoint to another using a GPS sensor. Furthermore, the vehicle is provided with a multi-beam Laser Imaging Detection and Ranging (LIDAR sensor for surrounding reconstruction and obstacle detection. When an obstacle is detected in the planned path, the planned route is modified in order to avoid the obstacle and continue its way to the end of the mission. On the demonstration day, a total of 196 attendees had the opportunity to get a ride on the vehicles. A total of 28 laps were successfully completed in full autonomous mode in a private circuit located in the National Institute for Aerospace Research (INTA, Spain. In other words, the system completed 20.3 km of driverless navigation and obstacle avoidance.

Alternative fuelds in urban fleets

Energy Technology Data Exchange (ETDEWEB)

Lindsay, T.

1994-12-31

In this presentation the author addresses four main objectives. They are to: discuss programs that are driving the introduction of alternative fuels into fleet operations in urban areas around the country; define alternative fuels; quantify the present use and future projections on alternative fuel vehicles (AVFs) in the Chicago metropolitan statistical area; and discuss benefits of increased use of alternative fuels in urban areas. Factors which touch on these points include: present domestic dependence on petroleum for autos, with usage exceeding production; the large populations in urban areas which do not meet Clean Air Standards; recent legislative initiatives which give guidance and aid in the adoption of such strategies.

Alternative fuelds in urban fleets

International Nuclear Information System (INIS)

Lindsay, T.

1994-01-01

In this presentation the author addresses four main objectives. They are to: discuss programs that are driving the introduction of alternative fuels into fleet operations in urban areas around the country; define alternative fuels; quantify the present use and future projections on alternative fuel vehicles (AVFs) in the Chicago metropolitan statistical area; and discuss benefits of increased use of alternative fuels in urban areas. Factors which touch on these points include: present domestic dependence on petroleum for autos, with usage exceeding production; the large populations in urban areas which do not meet Clean Air Standards; recent legislative initiatives which give guidance and aid in the adoption of such strategies

General motors front wheel drive 2-mode hybrid transmission

Energy Technology Data Exchange (ETDEWEB)

Hendrickson, James [General Motors Corp., Pontiac, MI (United States). New Transmission Products Group.; Holmes, Alan G. [General Motors Corp., Pontiac, MI (United States). Powertrain Hybrid Architecture

2009-07-01

General Motors now expands the application of two-mode hybrid technology to front wheel drive vehicles with the development of a hybrid electric transmission packaged into essentially the same space as a conventional automatic transmission for front wheel drive. This was accomplished using a space-efficient arrangement based on two planetary gear sets and electric motor-generators with large internal diameters. A combination of damper and hydraulically-controlled clutch allow comfortable shutdown and restarting of large-displacement engines in front wheel drive vehicles. The hybrid system delivers electric low-speed urban driving, two continuously variable ranges of transmission speed ratios, four fixed transmission speed ratios, electric acceleration boosting, and regenerative braking. In the first vehicle application, the two-mode hybrid helps to reduce vehicle fuel consumption by approximately one-third. (orig.)

Motivation Counts: Autonomous But Not Obligated Sharing Promotes Happiness in Preschoolers.

Science.gov (United States)

Wu, Zhen; Zhang, Zhen; Guo, Rui; Gros-Louis, Julie

2017-01-01

Research has demonstrated that prosocial sharing is emotionally rewarding, which leads to further prosocial actions; such a positive feedback loop suggests a proximal mechanism of human's tendency to act prosocially. However, it leaves open a question as to how the emotional benefits from sharing develop in young children and whether sharing under pressure promotes happiness as well. The current study directly compared 3- and 5-year-old Chinese children's happiness when sharing was autonomous (the recipient did not contribute to getting the reward) with when sharing was obligated (the recipient and the actor jointly earned the reward). We found that children shared more items overall when sharing was obligated than autonomous, demonstrating their conformity to social norms of merit-based sharing. In children who eventually shared with others, 5-year-olds gave out more stickers in the obligated sharing condition than in the autonomous sharing condition, but 3-year-olds shared the same amount between the conditions, suggesting that 5-year-olds adhered to the merit-based sharing norm more strictly than 3-year-olds. Moreover, in the autonomous sharing condition, children displayed greater happiness when they shared with the recipient than when they kept stickers for themselves, suggesting that costly prosocial giving benefited children with positive mood; however, children did not gain happiness when they shared with the recipient in the obligated sharing condition. These findings demonstrate that children's affective benefits depend on the motivation underlying their prosocial behavior, and further imply that normative force and emotional gains may independently drive preschoolers' prosocial behaviors.

Motivation Counts: Autonomous But Not Obligated Sharing Promotes Happiness in Preschoolers

Directory of Open Access Journals (Sweden)

Zhen Wu

2017-05-01

Full Text Available Research has demonstrated that prosocial sharing is emotionally rewarding, which leads to further prosocial actions; such a positive feedback loop suggests a proximal mechanism of human’s tendency to act prosocially. However, it leaves open a question as to how the emotional benefits from sharing develop in young children and whether sharing under pressure promotes happiness as well. The current study directly compared 3- and 5-year-old Chinese children’s happiness when sharing was autonomous (the recipient did not contribute to getting the reward with when sharing was obligated (the recipient and the actor jointly earned the reward. We found that children shared more items overall when sharing was obligated than autonomous, demonstrating their conformity to social norms of merit-based sharing. In children who eventually shared with others, 5-year-olds gave out more stickers in the obligated sharing condition than in the autonomous sharing condition, but 3-year-olds shared the same amount between the conditions, suggesting that 5-year-olds adhered to the merit-based sharing norm more strictly than 3-year-olds. Moreover, in the autonomous sharing condition, children displayed greater happiness when they shared with the recipient than when they kept stickers for themselves, suggesting that costly prosocial giving benefited children with positive mood; however, children did not gain happiness when they shared with the recipient in the obligated sharing condition. These findings demonstrate that children’s affective benefits depend on the motivation underlying their prosocial behavior, and further imply that normative force and emotional gains may independently drive preschoolers’ prosocial behaviors.

Spatiotemporal variability of urban growth factors: A global and local perspective on the megacity of Mumbai

Science.gov (United States)

Shafizadeh-Moghadam, Hossein; Helbich, Marco

2015-03-01

The rapid growth of megacities requires special attention among urban planners worldwide, and particularly in Mumbai, India, where growth is very pronounced. To cope with the planning challenges this will bring, developing a retrospective understanding of urban land-use dynamics and the underlying driving-forces behind urban growth is a key prerequisite. This research uses regression-based land-use change models - and in particular non-spatial logistic regression models (LR) and auto-logistic regression models (ALR) - for the Mumbai region over the period 1973-2010, in order to determine the drivers behind spatiotemporal urban expansion. Both global models are complemented by a local, spatial model, the so-called geographically weighted logistic regression (GWLR) model, one that explicitly permits variations in driving-forces across space. The study comes to two main conclusions. First, both global models suggest similar driving-forces behind urban growth over time, revealing that LRs and ALRs result in estimated coefficients with comparable magnitudes. Second, all the local coefficients show distinctive temporal and spatial variations. It is therefore concluded that GWLR aids our understanding of urban growth processes, and so can assist context-related planning and policymaking activities when seeking to secure a sustainable urban future.

Autonomous emergency braking systems adapted to snowy road conditions improve drivers' perceived safety and trust.

Science.gov (United States)

Koglbauer, Ioana; Holzinger, Jürgen; Eichberger, Arno; Lex, Cornelia

2018-04-03

This study investigated drivers' evaluation of a conventional autonomous emergency braking (AEB) system on high and reduced tire-road friction and compared these results to those of an AEB system adaptive to the reduced tire-road friction by earlier braking. Current automated systems such as the AEB do not adapt the vehicle control strategy to the road friction; for example, on snowy roads. Because winter precipitation is associated with a 19% increase in traffic crashes and a 13% increase in injuries compared to dry conditions, the potential of conventional AEB to prevent collisions could be significantly improved by including friction in the control algorithm. Whereas adaption is not legally required for a conventional AEB system, higher automated functions will have to adapt to the current tire-road friction because human drivers will not be required to monitor the driving environment at all times. For automated driving functions to be used, high levels of perceived safety and trust of occupants have to be reached with new systems. The application case of an AEB is used to investigate drivers' evaluation depending on the road condition in order to gain knowledge for the design of future driving functions. In a driving simulator, the conventional, nonadaptive AEB was evaluated on dry roads with high friction (μ = 1) and on snowy roads with reduced friction (μ = 0.3). In addition, an AEB system adapted to road friction was designed for this study and compared with the conventional AEB on snowy roads with reduced friction. Ninety-six drivers (48 males, 48 females) assigned to 5 age groups (20-29, 30-39, 40-49, 50-59, and 60-75 years) drove with AEB in the simulator. The drivers observed and evaluated the AEB's braking actions in response to an imminent rear-end collision at an intersection. The results show that drivers' safety and trust in the conventional AEB were significantly lower on snowy roads, and the nonadaptive autonomous braking strategy was

Novel Intersection Type Recognition for Autonomous Vehicles Using a Multi-Layer Laser Scanner

Directory of Open Access Journals (Sweden)

Jhonghyun An

2016-07-01

Full Text Available There are several types of intersections such as merge-roads, diverge-roads, plus-shape intersections and two types of T-shape junctions in urban roads. When an autonomous vehicle encounters new intersections, it is crucial to recognize the types of intersections for safe navigation. In this paper, a novel intersection type recognition method is proposed for an autonomous vehicle using a multi-layer laser scanner. The proposed method consists of two steps: (1 static local coordinate occupancy grid map (SLOGM building and (2 intersection classification. In the first step, the SLOGM is built relative to the local coordinate using the dynamic binary Bayes filter. In the second step, the SLOGM is used as an attribute for the classification. The proposed method is applied to a real-world environment and its validity is demonstrated through experimentation.

UE4Sim: A Photo-Realistic Simulator for Computer Vision Applications

KAUST Repository

Mueller, Matthias; Casser, Vincent; Lahoud, Jean; Smith, Neil; Ghanem, Bernard

2017-01-01

We present a photo-realistic training and evaluation simulator (UE4Sim) with extensive applications across various fields of computer vision. Built on top of the Unreal Engine, the simulator integrates full featured physics based cars, unmanned aerial vehicles (UAVs), and animated human actors in diverse urban and suburban 3D environments. We demonstrate the versatility of the simulator with two case studies: autonomous UAV-based tracking of moving objects and autonomous driving using supervised learning. The simulator fully integrates both several state-of-the-art tracking algorithms with a benchmark evaluation tool and a deep neural network (DNN) architecture for training vehicles to drive autonomously. It generates synthetic photo-realistic datasets with automatic ground truth annotations to easily extend existing real-world datasets and provides extensive synthetic data variety through its ability to reconfigure synthetic worlds on the fly using an automatic world generation tool.

UE4Sim: A Photo-Realistic Simulator for Computer Vision Applications

KAUST Repository

Mueller, Matthias

2017-08-19

We present a photo-realistic training and evaluation simulator (UE4Sim) with extensive applications across various fields of computer vision. Built on top of the Unreal Engine, the simulator integrates full featured physics based cars, unmanned aerial vehicles (UAVs), and animated human actors in diverse urban and suburban 3D environments. We demonstrate the versatility of the simulator with two case studies: autonomous UAV-based tracking of moving objects and autonomous driving using supervised learning. The simulator fully integrates both several state-of-the-art tracking algorithms with a benchmark evaluation tool and a deep neural network (DNN) architecture for training vehicles to drive autonomously. It generates synthetic photo-realistic datasets with automatic ground truth annotations to easily extend existing real-world datasets and provides extensive synthetic data variety through its ability to reconfigure synthetic worlds on the fly using an automatic world generation tool.

Sim4CV: A Photo-Realistic Simulator for Computer Vision Applications

KAUST Repository

Müller, Matthias

2018-03-24

We present a photo-realistic training and evaluation simulator (Sim4CV) (http://www.sim4cv.org) with extensive applications across various fields of computer vision. Built on top of the Unreal Engine, the simulator integrates full featured physics based cars, unmanned aerial vehicles (UAVs), and animated human actors in diverse urban and suburban 3D environments. We demonstrate the versatility of the simulator with two case studies: autonomous UAV-based tracking of moving objects and autonomous driving using supervised learning. The simulator fully integrates both several state-of-the-art tracking algorithms with a benchmark evaluation tool and a deep neural network architecture for training vehicles to drive autonomously. It generates synthetic photo-realistic datasets with automatic ground truth annotations to easily extend existing real-world datasets and provides extensive synthetic data variety through its ability to reconfigure synthetic worlds on the fly using an automatic world generation tool.

Simple gaze-contingent cues guide eye movements in a realistic driving simulator

Science.gov (United States)

Pomarjanschi, Laura; Dorr, Michael; Bex, Peter J.; Barth, Erhardt

2013-03-01

Looking at the right place at the right time is a critical component of driving skill. Therefore, gaze guidance has the potential to become a valuable driving assistance system. In previous work, we have already shown that complex gaze-contingent stimuli can guide attention and reduce the number of accidents in a simple driving simulator. We here set out to investigate whether cues that are simple enough to be implemented in a real car can also capture gaze during a more realistic driving task in a high-fidelity driving simulator. We used a state-of-the-art, wide-field-of-view driving simulator with an integrated eye tracker. Gaze-contingent warnings were implemented using two arrays of light-emitting diodes horizontally fitted below and above the simulated windshield. Thirteen volunteering subjects drove along predetermined routes in a simulated environment popu­ lated with autonomous traffic. Warnings were triggered during the approach to half of the intersections, cueing either towards the right or to the left. The remaining intersections were not cued, and served as controls. The analysis of the recorded gaze data revealed that the gaze-contingent cues did indeed have a gaze guiding effect, triggering a significant shift in gaze position towards the highlighted direction. This gaze shift was not accompanied by changes in driving behaviour, suggesting that the cues do not interfere with the driving task itself.

Challenges for Older Drivers in Urban, Suburban, and Rural Settings

Directory of Open Access Journals (Sweden)

Rashmi P. Payyanadan

2018-03-01

Full Text Available Along with age-related factors, geographical settings—urban, suburban, and rural areas—also contribute to the differences in fatal crashes among older drivers. These differences in crash outcomes might be attributed to the various driving challenges faced by older drivers residing in different locations. To understand these challenges from the perspective of the older driver, a focus group study was conducted with drivers 65 and older from urban, suburban, and rural settings. Guided-group interviews were used to assess driving challenges, mobility options, opportunities for driver support systems (DSS, and alternate transportation needs. Content analysis of the interview responses resulted in four categories representing common challenges faced by older drivers across the settings: behavior of other drivers on the road, placement of road signs, reduced visibility of road signs due to age-related decline, and difficulties using in-vehicle technologies. Six categories involved location-specific challenges such as heavy traffic situations for urban and suburban drivers, and multi-destination trips for rural drivers. Countermeasures implemented by older drivers to address these challenges primarily involved route selection and avoidance. Technological advances of DSS systems provide a unique opportunity to support the information needs for route selection and avoidance preferences of drivers. Using the content analysis results, a framework was built to determine additional and modified DSS features to meet the specific challenges of older drivers in urban, suburban, and rural settings. These findings suggest that there is heterogeneity in the driving challenges and preferences of older drivers based on their location. Consequently, DSS technologies and vehicle automation need to be tailored to not only meet the driving safety and mobility needs of older drivers as a population, but also to their driving environment.

Driving behaviour in adults with attention deficit/hyperactivity disorder.

Science.gov (United States)

Groom, Madeleine J; van Loon, Editha; Daley, David; Chapman, Peter; Hollis, Chris

2015-07-28

Little is known about the impact of cognitive impairments on driving in adults with ADHD. The present study compared the performance of adults with and without ADHD in a driving simulator on two different routes: an urban route which we hypothesised would exacerbate weak impulse control in ADHD and a motorway route, to challenge deficits in sustained attention. Adults with (n = 22, 16 males) and without (n = 21, 18 males) ADHD completed a simulated driving session while eye movement data were recorded simultaneously. Participants also completed the Manchester Driving Behaviour Questionnaire (DBQ) and the Conners Adult ADHD Rating Scale (CAARS). Measures of driving performance included average speed, proportion distance travelled over speed limit (speeding) and lane deviation. These variables and the eye movement measures (spread of fixations, mean fixation duration) were compared between groups and routes. Also, driving behaviours, including responses to programmed events, were categorised and the frequencies within categories were compared between groups. Finally, speech analysis was performed to compare emotional verbal expressions during driving between groups. ADHD participants reported significantly more Violations and Lapses on the DBQ than control participants and significantly more accidents. Average speed and speeding were also higher but did not interact with route type. ADHD participants showed poorer vehicle control, greater levels of frustration with other road users (including greater frequencies of negative comments) and a trend for less safe driving when changing lanes/overtaking on the motorway. These effects were predicted by hyperactive/impulsive CAARS scores. They were also more likely to cause a crash/near miss when an event occurred on the urban route. The results suggest that difficulty regulating and controlling impulsive behavior, reflected in speeding, frustration with other road users, less safety when changing lanes on the

Testing for autonomic neuropathy

DEFF Research Database (Denmark)

Hilsted, J

1984-01-01

Autonomic neuropathy is a common complication in long-term diabetes, about 30% of the patients showing measurable signs of autonomic dysfunction after 10 years duration of disease. The diagnosis is often difficult to establish because clinical symptoms generally occur late in the course of the di......Autonomic neuropathy is a common complication in long-term diabetes, about 30% of the patients showing measurable signs of autonomic dysfunction after 10 years duration of disease. The diagnosis is often difficult to establish because clinical symptoms generally occur late in the course...

Size-resolved particle number emission patterns under real-world driving conditions using positive matrix factorization

NARCIS (Netherlands)

Domínguez-Sáez, A.; Viana, M.; Barrios, C.C.; Rubio, J.R.; Amato, F.; Pujadas, M.; Querol, X.

2012-01-01

A novel on-board system was tested to characterize size-resolved particle number emission patterns under real-world driving conditions, running in a EURO4 diesel vehicle and in a typical urban circuit in Madrid (Spain). Emission profiles were determined as a function of driving conditions. Source

Autonomous Driving in the iCity—HD Maps as a Key Challenge of the Automotive Industry

Directory of Open Access Journals (Sweden)

Heiko G. Seif

2016-06-01

Full Text Available This article provides in-depth insights into the necessary technologies for automated driving in future cities. State of science is reflected from different perspectives such as in-car computing and data management, road side infrastructure, and cloud solutions. Especially the challenges for the application of HD maps as core technology for automated driving are depicted in this article.

Driver exposure to volatile organic compounds, CO, ozone, and NO2 under different driving conditions

International Nuclear Information System (INIS)

Changchuan Chan; Oezkaynak, H.; Spengler, J.D.; Sheldon, L.

1991-01-01

The in-vehicle concentrations of 24 gasoline-related volatile organic compounds (VOCs) and three criteria air pollutants, ozone, carbon monoxide, and nitrogen dioxide, were measured in the summer of 1988, in Raleigh, NC. Two four-door sedan of different ages were used to evaluate in-vehicle concentrations of these compounds under different driving conditions. Factors that could influence driver exposure, such as different traffic patterns, car model, vehicle ventilation conditions, and driving periods, were evaluated. Isopentane was the most abundant aliphatic hydrocarbon and toluene was the most abundant aromatic VOC measured inside the vehicles. In-vehicle VOC and CO concentrations were highest for the urban roadway, second highest for the interstate highway, and lowest for the rural road. The median concentration ratio of urban/interstate/rural for each VOC was about 10/6/1. No differences in in-vehicle VOC concentrations were found between morning and afternoon rush hour driving, but higher in-vehicle ozone and NO 2 concentrations were found during afternoon driving. In-vehicle VOC levels were lowest with the air conditioner on and highest when the vent was open with the fan on. The in-vehicle/car exterior concentration ratio for VOCs, CO, and NO 2 was slightly higher than 1. The VOC concentration measured by a pedestrian on the urban sidewalk was lower than the in-vehicle measurements but higher than the fixed-site measurements but higher than the fixed-site measurements on urban roadways 50 m from streets. The VOC measurements were positively correlated with the CO measurement and negatively correlated with the ozone measurement

A model predictive speed tracking control approach for autonomous ground vehicles

Science.gov (United States)

Zhu, Min; Chen, Huiyan; Xiong, Guangming

2017-03-01

This paper presents a novel speed tracking control approach based on a model predictive control (MPC) framework for autonomous ground vehicles. A switching algorithm without calibration is proposed to determine the drive or brake control. Combined with a simple inverse longitudinal vehicle model and adaptive regulation of MPC, this algorithm can make use of the engine brake torque for various driving conditions and avoid high frequency oscillations automatically. A simplified quadratic program (QP) solving algorithm is used to reduce the computational time, and the approach has been applied in a 16-bit microcontroller. The performance of the proposed approach is evaluated via simulations and vehicle tests, which were carried out in a range of speed-profile tracking tasks. With a well-designed system structure, high-precision speed control is achieved. The system can robustly model uncertainty and external disturbances, and yields a faster response with less overshoot than a PI controller.

Development of a driving cycle to evaluate the energy economy of electric vehicles in urban areas

International Nuclear Information System (INIS)

Brady, John; O’Mahony, Margaret

2016-01-01

Highlights: • Development of a driving cycle to evaluate energy economy of electric vehicles. • Improves on existing driving cycles by using real world data from electric vehicles. • Driving data from different road types and traffic conditions included. - Abstract: Understanding real-world driving conditions in the form of driving cycles is instrumental in the design of efficient powertrains and energy storage systems for electric vehicles. In addition, driving cycles serve as a standardised measurement procedure for the certification of a vehicle’s fuel economy and driving range. They also facilitate the evaluation of the economic and lifecycle costs of emerging vehicular technologies. However, discrepancies between existing driving cycles and real-world driving conditions exist due to a number of factors such as insufficient data, inadequate driving cycle development methodologies and methods to assess the representativeness of developed driving cycles. The novel aspect of the work presented here is the use of real-world data from electric vehicles, over a six month period, to derive a driving cycle appropriate for their assessment. A stochastic and statistical methodology is used to develop and assess the representativeness of the driving cycle against a separate set of real world electric vehicle driving data and the developed cycle performs well in that comparison. Although direct comparisons with internal combustion engine driving cycles are not that informative or relevant due to the marked differences between how they and electric vehicles operate, some discussion around how the developed electric vehicle cycle relates to them is also included.

Machine learning, social learning and the governance of self-driving cars.

Science.gov (United States)

Stilgoe, Jack

2018-02-01

Self-driving cars, a quintessentially 'smart' technology, are not born smart. The algorithms that control their movements are learning as the technology emerges. Self-driving cars represent a high-stakes test of the powers of machine learning, as well as a test case for social learning in technology governance. Society is learning about the technology while the technology learns about society. Understanding and governing the politics of this technology means asking 'Who is learning, what are they learning and how are they learning?' Focusing on the successes and failures of social learning around the much-publicized crash of a Tesla Model S in 2016, I argue that trajectories and rhetorics of machine learning in transport pose a substantial governance challenge. 'Self-driving' or 'autonomous' cars are misnamed. As with other technologies, they are shaped by assumptions about social needs, solvable problems, and economic opportunities. Governing these technologies in the public interest means improving social learning by constructively engaging with the contingencies of machine learning.

Experimental research on the effectiveness and adaptability of speed reduction markings in downhill sections on urban roads: a driving simulation study.

Science.gov (United States)

Ding, Han; Zhao, Xiaohua; Rong, Jian; Ma, Jianming

2015-02-01

The objective of this paper is to test the effectiveness and adaptability of speed reduction markings (SRMs) in downhill sections on urban roads with distinct roadway grades. Empirical data including vehicle speed and acceleration were collected in a driving simulator. Subjective questionnaires were conducted, and two indexes - the relative speed difference and standard deviation of acceleration - were developed to evaluate the effectiveness and adaptability of SRMs. Meanwhile, the effectiveness of driving simulator related to different road alignments and types of SRMs has been validated through a field test. Results of subjective questionnaires showed that the majority of subjects had no feelings of nervousness, but they were affected by SRMs while driving through downhill sections in all four scenarios (i.e., downhill sections with vertical grades of 3, 2, 1.5 and 1%). In terms of vehicle speed and acceleration, the results of the analysis of variance (ANOVA) and the contrast analysis (S-N-K method) indicated that SRMs were significantly effective when roadway grades of downgrade sections were 1.5, 2 and 3%, while transverse speed reduction markings (TSRMs) had significantly worse adaptability (P<0.05). Therefore, this research recommends that TSRMs could be placed in downhill sections with roadway grades of 1.5 or 2%; longitudinal speed reduction markings (LSRMs) could be placed in downhill sections with a roadway grade of 3%. Whether SRMs are placed in downhill sections with a roadway grade of 1% would depend on other factors such as financial issues and crash records, which are not considered in this paper. Copyright © 2014 Elsevier Ltd. All rights reserved.

Autonomous health management for PMSM rail vehicles through demagnetization monitoring and prognosis control.

Science.gov (United States)

Niu, Gang; Jiang, Junjie; Youn, Byeng D; Pecht, Michael

2018-01-01

Autonomous vehicles are playing an increasingly importance in support of a wide variety of critical events. This paper presents a novel autonomous health management scheme on rail vehicles driven by permanent magnet synchronous motors (PMSMs). Firstly, the PMSMs are modeled based on first principle to deduce the initial profile of pneumatic braking (p-braking) force, then which is utilized for real-time demagnetization monitoring and degradation prognosis through similarity-based theory and generate prognosis-enhanced p-braking force strategy for final optimal control. A case study is conducted to demonstrate the feasibility and benefit of using the real-time prognostics and health management (PHM) information in vehicle 'drive-brake' control automatically. The results show that accurate demagnetization monitoring, degradation prognosis, and real-time capability for control optimization can be obtained, which can effectively relieve brake shoe wear. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Autonomous dynamics in neural networks: the dHAN concept and associative thought processes

Science.gov (United States)

Gros, Claudius

2007-02-01

The neural activity of the human brain is dominated by self-sustained activities. External sensory stimuli influence this autonomous activity but they do not drive the brain directly. Most standard artificial neural network models are however input driven and do not show spontaneous activities. It constitutes a challenge to develop organizational principles for controlled, self-sustained activity in artificial neural networks. Here we propose and examine the dHAN concept for autonomous associative thought processes in dense and homogeneous associative networks. An associative thought-process is characterized, within this approach, by a time-series of transient attractors. Each transient state corresponds to a stored information, a memory. The subsequent transient states are characterized by large associative overlaps, which are identical to acquired patterns. Memory states, the acquired patterns, have such a dual functionality. In this approach the self-sustained neural activity has a central functional role. The network acquires a discrimination capability, as external stimuli need to compete with the autonomous activity. Noise in the input is readily filtered-out. Hebbian learning of external patterns occurs coinstantaneous with the ongoing associative thought process. The autonomous dynamics needs a long-term working-point optimization which acquires within the dHAN concept a dual functionality: It stabilizes the time development of the associative thought process and limits runaway synaptic growth, which generically occurs otherwise in neural networks with self-induced activities and Hebbian-type learning rules.

Urban Growth in a Fragmented Landscape: Estimating the Relationship between Landscape Pattern and Urban Land Use Change in Germany, 2000-2006

Science.gov (United States)

Keller, R.

2013-12-01

One of the highest priorities in the conservation and management of biodiversity, natural resources and other vital ecosystem services is the assessment of the mechanisms that drive urban land use change. Using key landscape indicators, this study addresses why urban land increased 6 percent overall in Germany from 2000-2006. Building on regional science and economic geography research, I develop a model of landscape change that integrates remotely sensed and other geospatial data, and socioeconomic data in a spatial autoregressive model to explain the variance in urban land use change observed in German kreise (counties) over the past decade. The results reveal three key landscape mechanisms that drive urban land use change across Germany, aligning with those observed in US studies: (1) the level of fragmentation, (2) the share of designated protected areas, and (3) the share of prime soil. First, as fragmentation of once continuous habitats in the landscape increases, extensive urban growth follows. Second, designated protected areas have the perverse effect of hastening urbanization in surrounding areas. Third, greater shares of prime, productive soil experienced less urban land take over the 6 year period, an effect that is stronger in the former East Germany, where the agricultural sector remains large. The results suggest that policy makers concentrate their conservation efforts on preexisting fragmented land with high shares of protected areas in Germany to effectively stem urban land take. Given that comparative studies of land use change are vital for the scientific community to grasp the wider global process of urbanization and coincident ecological impacts, the methodology employed here is easily exportable to land cover and land use research programs in other fields and geographic areas. Key words: Urban land use change, Ecosystem services, Landscape fragmentation, Remote sensing, Spatial regression models, GermanyOLS and Spatial Autoregressive Model

Autonomous Vehicles for Smart and Sustainable Cities: An In-Depth Exploration of Privacy and Cybersecurity Implications

OpenAIRE

Hazel Si Min Lim; Araz Taeihagh

2018-01-01

Amidst rapid urban development, sustainable transportation solutions are required to meet the increasing demands for mobility whilst mitigating the potentially negative social, economic, and environmental impacts. This study analyses autonomous vehicles (AVs) as a potential transportation solution for smart and sustainable development. We identified privacy and cybersecurity risks of AVs as crucial to the development of smart and sustainable cities and examined the steps taken by governments ...

Improving E-Bike Safety on Urban Highways in China

OpenAIRE

Linjun Lu; Chen Wang; Tao Wang

2015-01-01

This paper aims to examine characteristics of e-bike fatal crashes on urban highways in China. Crash data were retrieved from the three-year crash reports (2010–2012) of Taixing City. Descriptive analysis was conducted to examine characteristics of e-bike riders, drivers, and crashes. The important findings include the following: (1) most fatal crashes were related to e-bike riders’ aberrant driving behaviors, including driving in motorized lanes, red-light running, driving against the direct...

Diastolic and autonomic dysfunction in early cirrhosis

DEFF Research Database (Denmark)

Dahl, Emilie Kristine; Møller, Søren; Kjær, Andreas

2014-01-01

OBJECTIVE. Presence of cardiac dysfunction in patients with advanced cirrhosis is widely accepted, but data in early stages of cirrhosis are limited. Systolic and diastolic functions, dynamics of QT-interval, and pro-atrial natriuretic peptide (pro-ANP) are investigated in patients with early stage...... cirrhosis during maximal β-adrenergic drive. MATERIAL AND METHODS. Nineteen patients with Child A (n = 12) and Child B cirrhosis (n = 7) and seven matched controls were studied during cardiac stress induced by increasing dosages of dobutamine and atropine. RESULTS. Pharmacological responsiveness was similar...... indicate that patients with early stage cirrhosis exhibit early diastolic and autonomic dysfunction as well as elevated pro-ANP. However, the cardiac chronotropic and inotropic responses to dobutamine stress were normal. The dynamics of ventricular repolarization appears normal in patients with early stage...

Overview of the Autonomic Nervous System

Science.gov (United States)

... be reversible or progressive. Anatomy of the autonomic nervous system The autonomic nervous system is the part of ... organs they connect with. Function of the autonomic nervous system The autonomic nervous system controls internal body processes ...

A Spectre Haunting: New Dimensions of Youth Protest in Western Europe. Occasional Paper 8208.

Science.gov (United States)

Mushaben, Joyce Marie

European protest movements of the eighties are analyzed and compared to the dissident movements of the sixties and seventies. The focus is on the peace, anti-nuclear, and ecology movements, the drive for autonomous youth centers in Switzerland, racial disturbances in Britain, and unrest among the urban squatters in the German Federal Republic. Six…

Understanding the health impacts of urbanization in China: A living laboratory for urban biogeochemistry research

Science.gov (United States)

Zhu, Y. G.

2015-12-01

China has the largest population in the world, and by 2011, more than 50% of its population are now living in cities. This ongoing societal change has profound impacts on environmental quality and population health. In addition to intensive discharges of waste, urbanization is not only changing the land use and land cover, but also inducing fundamental changes in biogeochemical processes. Unlike biogeochemistry in non-urban environment, the biological component of urban biogeochemistry is dominated by direct human activities, such as air pollution derived from transport, wastewater treatment, garbage disposal and increase in impervious surface etc. Managing urban biogeochemistry will include source control over waste discharge, eco-infrastructure (such as green space and eco-drainage), resource recovery from urban waste stream, and integration with peri-urban ecosystem, particularly with food production system. The overall goal of managing urban biogeochemistry is for human health and wellbeing, which is a global challenge. In this paper, the current status of urban biogeochemistry research in China will be briefly reviewed, and then it will focus on nutrient recycling and waste management, as these are the major driving forces of environmental quality changes in urban areas. This paper will take a holistic view on waste management, covering urban metabolism analysis, technological innovation and integration for resource recovery from urban waste stream, and risk management related to waste recycling and recovery.

Assessing drivers' response during automated driver support system failures with non-driving tasks.

Science.gov (United States)

Shen, Sijun; Neyens, David M

2017-06-01

With the increase in automated driver support systems, drivers are shifting from operating their vehicles to supervising their automation. As a result, it is important to understand how drivers interact with these automated systems and evaluate their effect on driver responses to safety critical events. This study aimed to identify how drivers responded when experiencing a safety critical event in automated vehicles while also engaged in non-driving tasks. In total 48 participants were included in this driving simulator study with two levels of automated driving: (a) driving with no automation and (b) driving with adaptive cruise control (ACC) and lane keeping (LK) systems engaged; and also two levels of a non-driving task (a) watching a movie or (b) no non-driving task. In addition to driving performance measures, non-driving task performance and the mean glance duration for the non-driving task were compared between the two levels of automated driving. Drivers using the automated systems responded worse than those manually driving in terms of reaction time, lane departure duration, and maximum steering wheel angle to an induced lane departure event. These results also found that non-driving tasks further impaired driver responses to a safety critical event in the automated system condition. In the automated driving condition, driver responses to the safety critical events were slower, especially when engaged in a non-driving task. Traditional driver performance variables may not necessarily effectively and accurately evaluate driver responses to events when supervising autonomous vehicle systems. Thus, it is important to develop and use appropriate variables to quantify drivers' performance under these conditions. Copyright © 2017 Elsevier Ltd and National Safety Council. All rights reserved.

Catecholamines and diabetic autonomic neuropathy

DEFF Research Database (Denmark)

Hilsted, J

1995-01-01

In diabetic patients with autonomic neuropathy plasma noradrenaline concentration, used as an index of sympathetic nervous activity, is low. This decrease is, however, only found in patients with a long duration of diabetes with clinically severe autonomic neuropathy. This apparent insensitivity...... of plasma catecholamine measurements is not due to changes in the clearance of catecholamines in diabetic autonomic neuropathy. The physiological responses to infused adrenaline and to noradrenaline are enhanced, for noradrenaline mainly cardiovascular responses. Adrenoceptors (alpha and beta adrenoceptors......) are not altered in circulating blood cells in diabetic autonomic neuropathy. Thus, a generalized up-regulation of adrenoceptors does not occur in diabetic autonomic neuropathy....

Building resilience: how the urban poor can drive climate adaptation

Energy Technology Data Exchange (ETDEWEB)

Swalheim, Sarah; Dodman, David

2008-11-15

Adaptation – preparing for and coping with climate impacts – is now a key issue in climate negotiations. This is real progress from a decade ago, when mitigation alone dominated the climate agenda. But adaptation itself needs to move on. The 900 million urban dwellers living in poverty worldwide will likely be among the worst affected by climate change, yet they hardly feature in adaptation policies and practices. These people, most living in the world's poorer countries, urgently need efficient, cost-effective solutions. Community-based adaption is one. Now widely used in rural areas, CBA allows local people to identify and address adaptation issues, building a lasting legacy of skills and ownership. But for CBA to work in urban areas, adaptation funding needs to reach the grassroots organisations and city governments that will initiate and deliver it.

Energy and fuel efficient parallel mild hybrids for urban roads

International Nuclear Information System (INIS)

Babu, Ajay; Ashok, S.

2016-01-01

Highlights: • Energy and fuel savings depend on battery charge variations and the vehicle speed parameters. • Indian urban conditions provide lot of scope for energy and fuel savings in mild hybrids. • Energy saving strategy has lower payback periods than the fuel saving one in mild hybrids. • Sensitivity to parameter variations is the least for energy saving strategy in a mild hybrid. - Abstract: Fuel economy improvements and battery energy savings can promote the adoption of parallel mild hybrids for urban driving conditions. The aim of this study is to establish these benefits through two operating modes: an energy saving mode and a fuel saving mode. The performances of a typical parallel mild hybrid using these modes were analysed over urban driving cycles, in the US, Europe, and India, with a particular focus on the Indian urban conditions. The energy pack available from the proposed energy-saving operating mode, in addition to the energy already available from the conventional mode, was observed to be the highest for the representative urban driving cycle of the US. The extra energy pack available was found to be approximately 21.9 times that available from the conventional mode. By employing the proposed fuel saving operating mode, the fuel economy improvement achievable in New York City was observed to be approximately 22.69% of the fuel economy with the conventional strategy. The energy saving strategy was found to possess the lowest payback periods and highest immunity to variations in various cost parameters.

Integrated Multimotor Electrical DC Drive for Metallurgical Rolling Table

Directory of Open Access Journals (Sweden)

Gała Marek

2015-06-01

Full Text Available A drive system of a section of a metallurgical rolling table consisting of six dc motors, 2220 amperes of total current, fed from a single ABB reversible thyristor converter has been described in this paper. Autonomous excitation circuits of the motors are fed from independent thyristor converters working in the so called MULTIFEX system linked with a supervisory high power converter. There are presented schemes of the DSL communication realized by FEX excitation cards of the motors using the SDSC card of the DCS-800-S02 converter and logic control system based on a PLC controller. The parameterization of the DCS-800 converter and the DCF 803 excitation systems was conducted using the DriveWindow software tool. Significant waveforms of voltages, currents and the estimated motor velocity are described and presented for the idle run as well as during transporting sheets discharged from a pusher furnace.

Seeing Like a Tesla: How Can We Anticipate Self-Driving Worlds?

Directory of Open Access Journals (Sweden)

Jack Stilgoe

2018-02-01

Full Text Available In the last five years, investment and innovation in self-driving cars has accelerated dramatically. Automotive autonomy, once seen as impossible, is now sold as inevitable. Much of the governance discussion has centred on risk: will the cars be safer than their human-controlled counterparts? As with conventional cars, harder long-term questions relate to the future worlds that self-driving technologies might enable or even demand. The vision of an autonomous vehicle – able to navigate the world’s complexity using only its sensors and processors – on offer from companies like Tesla is intentionally misleading. So-called “autonomous” vehicles will depend upon webs of social and technical connectivity. For their purported benefits to be realised, infrastructures that were designed around humans will need to be upgraded in order to become machine-readable. It is vital to anticipate the politics of self-driving worlds in order to avoid exacerbating the inequalities that have emerged around conventional cars. Rather than being dazzled by the Tesla view, policymakers should start seeing like a city, from multiple perspectives. Good governance for self-driving cars means democratising experimentation and creating genuine collaboration between companies and local governments.

Does automatic transmission improve driving behavior in older drivers?

Science.gov (United States)

Selander, Helena; Bolin, Ingrid; Falkmer, Torbjörn

2012-01-01

Most older drivers continue to drive as they age. To maintain safe and independent transport, mobility is important for all individuals, but especially for older drivers. The objective of this study was to investigate whether automatic transmission, compared with manual transmission, may improve the driving behavior of older drivers. In total, 31 older drivers (mean age 75.2 years) and 32 younger drivers - used as a control group (mean age 39.2 years) - were assessed twice on the same fixed route; once in a car with manual transmission and once in a car with automatic transmission. The cars were otherwise identical. The driving behavior was assessed with the Ryd On-Road Assessment driving protocol. Time to completion of left turns (right-hand side driving) and the impact of a distraction task were measured. The older group had more driving errors than the younger group, in both the manual and the automatic transmission car. However, and contrary to the younger drivers, automatic transmission improved the older participants' driving behavior as demonstrated by safer speed adjustment in urban areas, greater maneuvering skills, safer lane position and driving in accordance with the speed regulations. Switching to automatic transmission may be recommended for older drivers as a means to maintain safe driving and thereby the quality of their transport mobility. Copyright © 2011 S. Karger AG, Basel.

Autonomic cardiac innervation

Science.gov (United States)

Hasan, Wohaib

2013-01-01

Autonomic cardiac neurons have a common origin in the neural crest but undergo distinct developmental differentiation as they mature toward their adult phenotype. Progenitor cells respond to repulsive cues during migration, followed by differentiation cues from paracrine sources that promote neurochemistry and differentiation. When autonomic axons start to innervate cardiac tissue, neurotrophic factors from vascular tissue are essential for maintenance of neurons before they reach their targets, upon which target-derived trophic factors take over final maturation, synaptic strength and postnatal survival. Although target-derived neurotrophins have a central role to play in development, alternative sources of neurotrophins may also modulate innervation. Both developing and adult sympathetic neurons express proNGF, and adult parasympathetic cardiac ganglion neurons also synthesize and release NGF. The physiological function of these “non-classical” cardiac sources of neurotrophins remains to be determined, especially in relation to autocrine/paracrine sustenance during development.   Cardiac autonomic nerves are closely spatially associated in cardiac plexuses, ganglia and pacemaker regions and so are sensitive to release of neurotransmitter, neuropeptides and trophic factors from adjacent nerves. As such, in many cardiac pathologies, it is an imbalance within the two arms of the autonomic system that is critical for disease progression. Although this crosstalk between sympathetic and parasympathetic nerves has been well established for adult nerves, it is unclear whether a degree of paracrine regulation occurs across the autonomic limbs during development. Aberrant nerve remodeling is a common occurrence in many adult cardiovascular pathologies, and the mechanisms regulating outgrowth or denervation are disparate. However, autonomic neurons display considerable plasticity in this regard with neurotrophins and inflammatory cytokines having a central regulatory

Vision based speed breaker detection for autonomous vehicle

Science.gov (United States)

C. S., Arvind; Mishra, Ritesh; Vishal, Kumar; Gundimeda, Venugopal

2018-04-01

In this paper, we are presenting a robust and real-time, vision-based approach to detect speed breaker in urban environments for autonomous vehicle. Our method is designed to detect the speed breaker using visual inputs obtained from a camera mounted on top of a vehicle. The method performs inverse perspective mapping to generate top view of the road and segment out region of interest based on difference of Gaussian and median filter images. Furthermore, the algorithm performs RANSAC line fitting to identify the possible speed breaker candidate region. This initial guessed region via RANSAC, is validated using support vector machine. Our algorithm can detect different categories of speed breakers on cement, asphalt and interlock roads at various conditions and have achieved a recall of 0.98.

The wildland-urban interface raster dataset of Catalonia.

Science.gov (United States)

Alcasena, Fermín J; Evers, Cody R; Vega-Garcia, Cristina

2018-04-01

We provide the wildland urban interface (WUI) map of the autonomous community of Catalonia (Northeastern Spain). The map encompasses an area of some 3.21 million ha and is presented as a 150-m resolution raster dataset. Individual housing location, structure density and vegetation cover data were used to spatially assess in detail the interface, intermix and dispersed rural WUI communities with a geographical information system. Most WUI areas concentrate in the coastal belt where suburban sprawl has occurred nearby or within unmanaged forests. This geospatial information data provides an approximation of residential housing potential for loss given a wildfire, and represents a valuable contribution to assist landscape and urban planning in the region.

Migration magnet: The role of work experience in rural-urban wage differentials

OpenAIRE

Michaelsen, Maren; Haisken-DeNew, John

2015-01-01

This study uses the nationally representative Mexican Family Life Survey (MxFLS) to identify systematic differences in earnings returns to human capital endowments for formal and informal sector workers in rural and urban Mexico. Returns to experience are critical in explaining the large urban wage gap in a Blinder-Oaxaca decomposition and indeed drive pull migration from the rural informal sector to the urban informal sector, exacerbating urban population congestion in already over-crowded m...

Oncogenes Activate an Autonomous Transcriptional Regulatory Circuit That Drives Glioblastoma

Directory of Open Access Journals (Sweden)

Dinesh K. Singh

2017-01-01

Full Text Available Efforts to identify and target glioblastoma (GBM drivers have primarily focused on receptor tyrosine kinases (RTKs. Clinical benefits, however, have been elusive. Here, we identify an SRY-related box 2 (SOX2 transcriptional regulatory network that is independent of upstream RTKs and capable of driving glioma-initiating cells. We identified oligodendrocyte lineage transcription factor 2 (OLIG2 and zinc-finger E-box binding homeobox 1 (ZEB1, which are frequently co-expressed irrespective of driver mutations, as potential SOX2 targets. In murine glioma models, we show that different combinations of tumor suppressor and oncogene mutations can activate Sox2, Olig2, and Zeb1 expression. We demonstrate that ectopic co-expression of the three transcription factors can transform tumor-suppressor-deficient astrocytes into glioma-initiating cells in the absence of an upstream RTK oncogene. Finally, we demonstrate that the transcriptional inhibitor mithramycin downregulates SOX2 and its target genes, resulting in markedly reduced proliferation of GBM cells in vivo.

Resource abundance and distribution drive bee visitation within developing tropical urban landscapes

OpenAIRE

Wojcik, Victoria

2011-01-01

Urban landscapes include a mix of biotic and anthropogenic elements that can interact with and influence species occurrence and behaviour. In order to outline the drivers of bee (Hymenoptera: Apoidea) occurrence in tropical urban landscapes, foraging patterns and community characteristics were examined at a common and broadly attractive food resource, Tecoma stans (Bignoniaceae). Bee visitation was monitored at 120 individual resources in three cities from June 2007 to March 2009. Resource c...

Teaching and Learning Global Urban Geography: An International Learning-Centred Approach

Science.gov (United States)

Kenna, Therese

2017-01-01

The recent drive for the internationalization of curricula, together with calls for the internationalization of the sub-discipline of urban geography beyond the "west", and the growing shift towards learning-centred paradigms in higher education, provided impetus for the design and delivery of an upper level undergraduate urban geography…

Road transport-related energy consumption: Analysis of driving factors in Tunisia

International Nuclear Information System (INIS)

Mraihi, Rafaa; Abdallah, Khaled ben; Abid, Mehdi

2013-01-01

The rapid growth of urban population and the development of road infrastructures in Tunisian cities have brought about many environmental and economic problems, including the rise scored in energy consumption and the increase in the quantity of gas emissions arising from road transport. Despite the critical nature of such problems, no policies have yet been adopted to improve energy efficiency in the transport sector. This paper aims to determine driving factors of energy consumption change for the road mode. It uses decomposition analysis to discuss the effects of economic, demographic and urban factors on the evolution of transport energy consumption. The main result highlighted in the present work is that vehicle fuel intensity, vehicle intensity, GDP per capita, urbanized kilometers and national road network are found to be the main drivers of energy consumption change in the road transport sector during 1990–2006 period. Consequently, several strategies can be elaborated to reduce road transport energy. Economic, fiscal and regulatory instruments can be applied in order to make road transport more sustainable. -- Highlights: •We are interested in determining driving factors of transport energy consumption growth in Tunisia. •We use decomposition analysis approach. •Vehicle fuel and road vehicle intensities are found to be principal factors. •Motorization and urbanization are also found to be responsible

Advanced Microsystems for Automotive Applications 2015 : Smart Systems for Green and Automated Driving

CERN Document Server

Müller, Beate; Meyer, Gereon

2016-01-01

This edited volume presents the proceedings of the AMAA 2015 conference, Berlin, Germany. The topical focus of the 2015 conference lies on smart systems for green and automated driving. The automobile of the future has to respond to two major trends, the electrification of the drivetrain, and the automation of the transportation system. These trends will not only lead to greener and safer driving but re-define the concept of the car completely, particularly if they interact with each other in a synergetic way as for autonomous parking and charging, self-driving shuttles or mobile robots. Key functionalities like environment perception are enabled by electronic components and systems, sensors and actuators, communication nodes, cognitive systems and smart systems integration. The book will be a valuable read for research experts and professionals in the automotive industry but the book may also be beneficial for graduate students.

Do ambient urban odors evoke basic emotions?

Directory of Open Access Journals (Sweden)

Sandra Theresia Weber-Glass

2014-04-01

Full Text Available Fragrances, such as plant odors, have been shown to evoke autonomic response patterns associated with Ekman’s (Ekman et al., 1983 basic emotions happiness, surprise, anger, fear, sadness and disgust. Inducing positive emotions by odors in highly frequented public spaces could serve to improve the quality of life in urban environments. Thus, the present study evaluated the potency of ambient odors connoted with an urban environment to evoke basic emotions on an autonomic and cognitive response level. Synthetic mixtures representing the odors of disinfectant, candles / bees wax, summer air, burnt smell, vomit and musty smell as well as odorless water as a control were presented five times in random order to 30 healthy, non-smoking human subjects with intact sense of smell. Skin temperature, skin conductance, breathing rate, forearm muscle activity, blink rate and heart rate were recorded simultaneously. Subjects rated the odors in terms of pleasantness, intensity and familiarity and gave verbal labels to each odor as well as cognitive associations with the basic emotions. The results showed that the amplitude of the skin conductance response varied as a function of odor presentation. Burnt smell and vomit elicited significantly higher electrodermal responses than summer air. Also, a negative correlation was revealed between the amplitude of the skin conductance response and hedonic odor valence indicating that the magnitude of the electrodermal response increased with odor unpleasantness. The analysis of the cognitive associations between odors and basic emotions showed that candles / bees wax and summer air were specifically associated with happiness whereas burnt smell and vomit were uniquely associated with disgust. Our findings suggest that city odors may evoke specific cognitive associations of basic emotions and that autonomic activity elicited by such odors is related to odor hedonics.

Unsupervised obstacle detection in driving environments using deep-learning-based stereovision

KAUST Repository

Dairi, Abdelkader; Harrou, Fouzi; Senouci, Mohamed; Sun, Ying

2017-01-01

A vision-based obstacle detection system is a key enabler for the development of autonomous robots and vehicles and intelligent transportation systems. This paper addresses the problem of urban scene monitoring and tracking of obstacles based on unsupervised, deep-learning approaches. Here, we design an innovative hybrid encoder that integrates deep Boltzmann machines (DBM) and auto-encoders (AE). This hybrid auto-encode (HAE) model combines the greedy learning features of DBM with the dimensionality reduction capacity of AE to accurately and reliably detect the presence of obstacles. We combine the proposed hybrid model with the one-class support vector machines (OCSVM) to visually monitor an urban scene. We also propose an efficient approach to estimating obstacles location and track their positions via scene densities. Specifically, we address obstacle detection as an anomaly detection problem. If an obstacle is detected by the OCSVM algorithm, then localization and tracking algorithm is executed. We validated the effectiveness of our approach by using experimental data from two publicly available dataset, the Malaga stereovision urban dataset (MSVUD) and the Daimler urban segmentation dataset (DUSD). Results show the capacity of the proposed approach to reliably detect obstacles.

Unsupervised obstacle detection in driving environments using deep-learning-based stereovision

KAUST Repository

Dairi, Abdelkader

2017-12-06

A vision-based obstacle detection system is a key enabler for the development of autonomous robots and vehicles and intelligent transportation systems. This paper addresses the problem of urban scene monitoring and tracking of obstacles based on unsupervised, deep-learning approaches. Here, we design an innovative hybrid encoder that integrates deep Boltzmann machines (DBM) and auto-encoders (AE). This hybrid auto-encode (HAE) model combines the greedy learning features of DBM with the dimensionality reduction capacity of AE to accurately and reliably detect the presence of obstacles. We combine the proposed hybrid model with the one-class support vector machines (OCSVM) to visually monitor an urban scene. We also propose an efficient approach to estimating obstacles location and track their positions via scene densities. Specifically, we address obstacle detection as an anomaly detection problem. If an obstacle is detected by the OCSVM algorithm, then localization and tracking algorithm is executed. We validated the effectiveness of our approach by using experimental data from two publicly available dataset, the Malaga stereovision urban dataset (MSVUD) and the Daimler urban segmentation dataset (DUSD). Results show the capacity of the proposed approach to reliably detect obstacles.

A Secure, Scalable and Elastic Autonomic Computing Systems Paradigm: Supporting Dynamic Adaptation of Self-* Services from an Autonomic Cloud

Directory of Open Access Journals (Sweden)

Abdul Jaleel

2018-05-01

Full Text Available Autonomic computing embeds self-management features in software systems using external feedback control loops, i.e., autonomic managers. In existing models of autonomic computing, adaptive behaviors are defined at the design time, autonomic managers are statically configured, and the running system has a fixed set of self-* capabilities. An autonomic computing design should accommodate autonomic capability growth by allowing the dynamic configuration of self-* services, but this causes security and integrity issues. A secure, scalable and elastic autonomic computing system (SSE-ACS paradigm is proposed to address the runtime inclusion of autonomic managers, ensuring secure communication between autonomic managers and managed resources. Applying the SSE-ACS concept, a layered approach for the dynamic adaptation of self-* services is presented with an online ‘Autonomic_Cloud’ working as the middleware between Autonomic Managers (offering the self-* services and Autonomic Computing System (requiring the self-* services. A stock trading and forecasting system is used for simulation purposes. The security impact of the SSE-ACS paradigm is verified by testing possible attack cases over the autonomic computing system with single and multiple autonomic managers running on the same and different machines. The common vulnerability scoring system (CVSS metric shows a decrease in the vulnerability severity score from high (8.8 for existing ACS to low (3.9 for SSE-ACS. Autonomic managers are introduced into the system at runtime from the Autonomic_Cloud to test the scalability and elasticity. With elastic AMs, the system optimizes the Central Processing Unit (CPU share resulting in an improved execution time for business logic. For computing systems requiring the continuous support of self-management services, the proposed system achieves a significant improvement in security, scalability, elasticity, autonomic efficiency, and issue resolving time

Mobile phone use while driving in a sample of Spanish university workers.

Science.gov (United States)

Gras, M Eugenia; Cunill, Monica; Sullman, Mark J M; Planes, Montserrat; Aymerich, Maria; Font-Mayolas, Silvia

2007-03-01

A number of epidemiological studies have reported drivers who use a mobile phone while driving have an elevated risk of being involved in a crash. This is particularly concerning as a survey of drivers in the Spanish region of Catalunya found that approximately 87% own mobile phones. The present study investigated the reported frequency of mobile phone use on Spanish roads (for talking and using SMS), the characteristics of the drivers who use mobile phones while driving and whether they altered their driving behaviour when using a mobile phone. The research found that more than 60% use a mobile phone while driving and that the phone is mostly used for making calls, rather than using SMS. In general, males and females use mobile phones about the same reported frequency, although males were more likely to use a mobile phone to talk on the highway. The pattern for age was the same for both male and female participants, with the younger drivers using SMS more frequently than older drivers. On urban roads almost half of the drivers reported changing their driving behaviour when using a mobile phone, while on the highway this figure was slightly over 41%. The reported frequency of using a mobile phone to talk on urban roads was significantly correlated with crash involvement. However, this affect disappeared once the contributions of the demographic and descriptive variables had been partialled out.

Energy-autonomous wireless sensor nodes for automotive applications, powered by thermoelectric energy harvesting

International Nuclear Information System (INIS)

Mehne, P.; Lickert, F.; Bäumker, E.; Kroener, M.; Woias, P.

2016-01-01

In this paper we will first present the measurement of temperatures on different positions at a diesel-powered car. As a result, several locations are identified as suitable to implement a wireless sensor node powered by thermal energy harvesting. Based on the data gained a thermoelectric generator (TEG) has been selected, and measurements of energy generation have been performed. Further, a complete energy-autonomous wireless sensor node was designed, including the TEG with its mounting bracket, an electronic power management, and a Bluetooth Low Energy (BLE) sensor node. Based on temperature differences from -10 K up to 75.3 K occurring in test drives, a low power set up was chosen to achieve a system startup time below 10 minutes and to ensure service even under difficult ambient conditions, like high ambient temperatures or a slow movement of the car in stocking traffic. 2 minutes after starting the engine a power about of 10 mW is available from the chosen TEG, and in peak the power exceeds 1 W. In a 50 minute test drive it was possible to generate 650 J of energy. This information was used to develop the complete system, demonstrating the opportunity to deploy energy-autonomous wireless sensor nodes in a car, e.g. for exhaust gas monitoring. The system is used to gather sensor data, like temperature and humidity, and transmits data successfully via BLE to a prepared main node based on a Raspberry Pi. (paper)

Energy-autonomous wireless sensor nodes for automotive applications, powered by thermoelectric energy harvesting

Science.gov (United States)

Mehne, P.; Lickert, F.; Bäumker, E.; Kroener, M.; Woias, P.

2016-11-01

In this paper we will first present the measurement of temperatures on different positions at a diesel-powered car. As a result, several locations are identified as suitable to implement a wireless sensor node powered by thermal energy harvesting. Based on the data gained a thermoelectric generator (TEG) has been selected, and measurements of energy generation have been performed. Further, a complete energy-autonomous wireless sensor node was designed, including the TEG with its mounting bracket, an electronic power management, and a Bluetooth Low Energy (BLE) sensor node. Based on temperature differences from -10 K up to 75.3 K occurring in test drives, a low power set up was chosen to achieve a system startup time below 10 minutes and to ensure service even under difficult ambient conditions, like high ambient temperatures or a slow movement of the car in stocking traffic. 2 minutes after starting the engine a power about of 10 mW is available from the chosen TEG, and in peak the power exceeds 1 W. In a 50 minute test drive it was possible to generate 650 J of energy. This information was used to develop the complete system, demonstrating the opportunity to deploy energy-autonomous wireless sensor nodes in a car, e.g. for exhaust gas monitoring. The system is used to gather sensor data, like temperature and humidity, and transmits data successfully via BLE to a prepared main node based on a Raspberry Pi.

A gradient analysis on urban sprawl and urban landscape pattern between 1985 and 2000 in the Pearl River Delta, China

Science.gov (United States)

Dai, Erfu; Wu, Zhuo; Du, Xiaodian

2017-04-01

Urbanization is an irreversible trend worldwide, especially in rapidly developing China. Accelerated urbanization has resulted in rapid urban sprawl and urban landscape pattern changes. Quantifying the spatiotemporal dynamics of urban land use and landscape pattern not only can reveal the characteristics of social transfer and economic development, but also can provide insights into the driving mechanisms of land use changes. In this study, we integrated remote sensing (RS), geographic information system (GIS), landscape metrics, and gradient analysis to quantitatively compare the spatiotemporal dynamics of land use, urban sprawl, and landscape pattern for nine cities in the Pearl River Delta from 1985‒2000. For the whole study region, urbanization was obvious. The results show an increase in urban buildup land and shrinkage of cropland in the Pearl River Delta. However, the nine cities differed greatly in terms of the process and magnitude of urban sprawl for both the spatial and temporal dimensions. This was most evident for the cities of Guangzhou and Shenzhen. Gradient analysis on urban landscape changes could deepen understanding of the stages of urban development and provide a scientific foundation for future urban planning and land management strategies in China.

Autonomic computing enabled cooperative networked design

CERN Document Server

Wodczak, Michal

2014-01-01

This book introduces the concept of autonomic computing driven cooperative networked system design from an architectural perspective. As such it leverages and capitalises on the relevant advancements in both the realms of autonomic computing and networking by welding them closely together. In particular, a multi-faceted Autonomic Cooperative System Architectural Model is defined which incorporates the notion of Autonomic Cooperative Behaviour being orchestrated by the Autonomic Cooperative Networking Protocol of a cross-layer nature. The overall proposed solution not only advocates for the inc

Cell-autonomous intracellular androgen receptor signaling drives the growth of human prostate cancer initiating cells.

Science.gov (United States)

Vander Griend, Donald J; D'Antonio, Jason; Gurel, Bora; Antony, Lizamma; Demarzo, Angelo M; Isaacs, John T

2010-01-01

The lethality of prostate cancer is due to the continuous growth of cancer initiating cells (CICs) which are often stimulated by androgen receptor (AR) signaling. However, the underlying molecular mechanism(s) for such AR-mediated growth stimulation are not fully understood. Such mechanisms may involve cancer cell-dependent induction of tumor stromal cells to produce paracrine growth factors or could involve cancer cell autonomous autocrine and/or intracellular AR signaling pathways. We utilized clinical samples, animal models and a series of AR-positive human prostate cancer cell lines to evaluate AR-mediated growth stimulation of prostate CICs. The present studies document that stromal AR expression is not required for prostate cancer growth, since tumor stroma surrounding AR-positive human prostate cancer metastases (N = 127) are characteristically AR-negative. This lack of a requirement for AR expression in tumor stromal cells is also documented by the fact that human AR-positive prostate cancer cells grow equally well when xenografted in wild-type versus AR-null nude mice. AR-dependent growth stimulation was documented to involve secretion, extracellular binding, and signaling by autocrine growth factors. Orthotopic xenograft animal studies documented that the cellautonomous autocrine growth factors which stimulate prostate CIC growth are not the andromedins secreted by normal prostate stromal cells. Such cell autonomous and extracellular autocrine signaling is necessary but not sufficient for the optimal growth of prostate CICs based upon the response to anti-androgen plus/or minus preconditioned media. AR-induced growth stimulation of human prostate CICs requires AR-dependent intracellular pathways. The identification of such AR-dependent intracellular pathways offers new leads for the development of effective therapies for prostate cancer. (c) 2009 Wiley-Liss, Inc.

Designing Dual-functionalized Gels for Self-reconfiguration and Autonomous Motion

Science.gov (United States)

Kuksenok, Olga; Balazs, Anna C.

2015-04-01

Human motion is enabled by the concerted expansion and contraction of interconnected muscles that are powered by inherent biochemical reactions. One of the challenges in the field of biomimicry is eliciting this form of motion from purely synthetic materials, which typically do not generate internalized reactions to drive mechanical action. Moreover, for practical applications, this bio-inspired motion must be readily controllable. Herein, we develop a computational model to design a new class of polymer gels where structural reconfigurations and internalized reactions are intimately linked to produce autonomous motion, which can be directed with light. These gels contain both spirobenzopyran (SP) chromophores and the ruthenium catalysts that drive the oscillatory Belousov-Zhabotinsky (BZ) reaction. Importantly, both the SP moieties and the BZ reaction are photosensitive. When these dual-functionalized gels are exposed to non-uniform illumination, the localized contraction of the gel (due to the SP moieties) in the presence of traveling chemical waves (due to the BZ reaction) leads to new forms of spontaneous, self-sustained movement, which cannot be achieved by either of the mono-functionalized networks.

Covering path generation for autonomous turf-care vehicle

DEFF Research Database (Denmark)

Mai, Christian; Jouffroy, Jerome; Top, Søren

2017-01-01

A covering path generation algorithm is developed to generate a lengthwise pattern based on a polygon describing the outer boundary and obstacles (polygon holes) of a geographical area. The algorithm is applied to an autonomous lawn-care robot for application to large grass turfs, for example golf......-courses, which require structured and precise cutting patterns. The geographical polygon is recorded by manually driving the vehicle around the contour, resulting in a polygon given as geographical (latitude, longitude) coordinates of the vertices, which together with machine parameters are used to generate...... a suitable toolpath. The algorithm has been tested on a recorded polygon from a local park turf which is non-convex and has holes, illustrating the algorithm functionality and limitations wrt. optimality. In particular, the algorithm can generate a tool-path for any polygon orientation....

Sensor-based control with digital maps association for global navigation: a real application for autonomous vehicles

OpenAIRE

Alves De Lima , Danilo; Corrêa Victorino , Alessandro

2015-01-01

International audience; This paper presents a sensor-based control strategy applied in the global navigation of autonomous vehicles in urban environments. Typically, sensor-based control performs local navigation tasks regarding some features perceived from the environment. However, when there is more than one possibility to go, like in road intersection, the vehicle control fails to accomplish its global navigation. In order to solve this problem, we propose the vehicle global navigation bas...

Exploration of Urban Spatial Planning Evaluation Based on Humanland Harmony

Science.gov (United States)

Hu, X. S.; Ma, Q. R.; Liang, W. Q.; Wang, C. X.; Xiong, X. Q.; Han, X. H.

2017-09-01

This study puts forward a new concept, "population urbanization level forecast - driving factor analysis - urban spatial planning analysis" for achieving efficient and intensive development of urbanization considering human-land harmony. We analyzed big data for national economic and social development, studied the development trends of population urbanization and its influencing factors using the grey system model in Chengmai county of Hainan province, China. In turn, we calculated the population of Chengmai coming years based on the forecasting urbanization rate and the corresponding amount of urban construction land, and evaluated the urban spatial planning with GIS spatial analysis method in the study area. The result shows that the proposed concept is feasible for evaluation of urban spatial planning, and is meaningful for guiding the rational distribution of urban space, controlling the scale of development, improving the quality of urbanization and thus promoting highly-efficient and intensive use of limited land resource.

A Fusion of Sensors Information for Autonomous Driving Control of an Electric Vehicle (EV)

International Nuclear Information System (INIS)

Haris, Hasri; Wan, Khairunizam; Hazry, D; Razlan, Zuradzman M

2013-01-01

The study uses the environment of the road as input variables for the main system to control steering wheel, brake and acceleration pedals. A camera is installed on the roof of the Electric Vehicles (EV) and is used to obtain image information of the road. On the other hand, users or drivers do not have to directly contact with the main system because it will autonomously control the devices by using fuzzy information of the road conditions. A fuzzy information means in the preliminary experiments, reasoning of the various environments will be done by using fuzzy approach. At the end of the study, several existing algorithms for controlling motors and image processing technique could be combined into an algorithm that could be used to move EV without assist from human

Potential effects of urbanization on urban thermal comfort, a case study of Nairobi city, Kenya: A review

Directory of Open Access Journals (Sweden)

Ongoma Victor

2016-01-01

Full Text Available This study reviews the effect of urbanization on human thermal comfort over Nairobi city in Kenya. Urbanization alters urban center's land use and land cover, modifying the climate of the urban setting. The modification in climate affects human comfort and the environment at large. This study focuses on the recent studies conducted in Nairobi city and many other cities globally to examine modification of wind, temperature and humidity over Nairobi. There was observed reduction in wind speed and relative humidity over the city, posing threat to human and animal comfort and the environment at large. The city of Nairobi, just like other cities globally is observed to experience urban heat island (UHI. The observed increase in minimum temperature as compared to maximum temperature signifies overall warming. A combination of all these changes reduces human comfort. Borrowing lessons from developed cities, increasing the urban forest cover is thus suggested as one of the practical and effective measures that can help prevent further modification of weather and urban climates. The study recommends further research involving multi-sectoral urban stake holders, on forcing driving urban thermal comfort. In the short term, design and construction of appropriate structures can help minimize energy consumption and emissions, thus enhancing comfort.

How Can Autonomous and Connected Vehicles, Electromobility, BRT, Hyperloop, Shared Use Mobility and Mobility-As-A-Service Shape Transport Futures for the Context of Smart Cities?

Directory of Open Access Journals (Sweden)

Alexandros Nikitas

2017-11-01

Full Text Available A smarter transport system that caters for social, economic and environmental sustainability is arguably one of the most critical prerequisites for creating pathways to more livable urban futures. This paper aims to provide a state-of-the-art analysis of a selection of mobility initiatives that may dictate the future of urban transportation and make cities smarter. These are mechanisms either recently introduced with encouraging uptake so far and much greater potential to contribute in a shift to a better transport paradigm or still in an embryonic stage of their development and yet to be embraced as powerful mechanisms that could change travel behaviour norms. Autonomous and connected vehicles are set to revolutionise the urban landscape by allowing machines to take over driving that for over a century has been exclusively a human activity, while electrical vehicles are already helping decarbonising the transport sector. Bus rapid transit has been steadily reinventing and rebranding conventional bus services revitalising the use of the humblest form of public transport, while hyperloop is an entirely new, disruptive, and somewhat provocative, travel mode proposition based on the use of sealed tube systems through which pods could travel free of air resistance with speeds exceeding 1000 km/h. Shared use mobility mechanisms like car-sharing, ride-sharing, ride-sourcing and public bicycles can help establishing a culture for using mobility resources on an as-needed basis, while mobility-as-a-service will take this sharing culture a step further, offering tailored mobility and trip planning packages that could entirely replace the need for privately owned modes of transport.

Batu Pahat Driving Cycle for Light Duty Gasoline Engine

Science.gov (United States)

Zainul Abidin, Zainul Ameerul Ikhsan B.; Faisal Hushim, Mohd; Ahmad, Osman Bin

2017-08-01

Driving cycle is a series of data points that represents the vehicle speed versus time. Transient driving cycles involve many changes such as frequent speed changes during typical on-road driving condition [2]. Model driving cycles involve protracted periods at constant speeds. The Batu Pahat Driving Cycle (BPDC) developed to represent the driving pattern of people in a district of Batu Pahat. Based on this driving cycle, it will be a reference to other researchers to study about the gases emission release and fuel consumption by the vehicle on the dynamometer or automotive simulation based on this driving cycle. Existing driving cycles used such as the New European Driving Cycle (NEDC), the Federal Test Procedure (FTP-72/75, and Japan 10-15 Mode Cycle is not appropriate for Batu Pahat district because of different road conditions, driving habits and environmental of developed driving cycle countries are not same [2][14]. Batu Pahat drive cycle was developed for low-capacity gasoline engine under 150 cc and operating on urban roads, rural roads and road around Universiti Tun Hussein Onn. The importance of these driving cycle as the reference for other research to measure and do automotive simulation regarding fuel consumption and gas emission release from the motorcycle for these three type of driving cycle area. Another use for driving cycles is in vehicle simulations [3]. More specifically, they are used in propulsion system simulations to predict the performance of internal combustion engines, transmissions, electric drive systems, batteries, fuel cell systems, and similar components [18]. Data collection methods used in this study is the use of Global Positioning System (GPS). The results obtained are not similar to each other due to differences in congestion on data taken. From the driving cycle graph obtained, such as the average velocity, maximum velocity, the duration and Positive Acceleration Kinetic Energy (PKE) can be determined. In addition, the best

Internal crisis in a second-order non-linear non-autonomous electronic oscillator

International Nuclear Information System (INIS)

Stavrinides, S.G.; Deliolanis, N.C.; Miliou, A.N.; Laopoulos, Th.; Anagnostopoulos, A.N.

2008-01-01

The internal crisis of a second-order non-linear non-autonomous chaotic electronic circuit is studied. The phase portraits consist of two interacting sub-attractors, a chaotic and a periodic one. Maximal Lyapunov exponents were calculated, for both the periodic and the chaotic waveforms, in order to confirm their nature. Transitions between the chaotic and the periodic sub-attractors become more frequent by increasing the circuit driving frequency. The frequency distribution of the corresponding laminar lengths and their average values indicate that an internal crisis takes place in this circuit, manifested in the intermittent behaviour of the corresponding orbits

Resource abundance and distribution drive bee visitation within developing tropical urban landscapes

Directory of Open Access Journals (Sweden)

Wojcik, Victoria

2011-06-01

Full Text Available Urban landscapes include a mix of biotic and anthropogenic elements that can interact with and influence species occurrence and behaviour. In order to outline the drivers of bee (Hymenoptera: Apoidea occurrence in tropical urban landscapes, foraging patterns and community characteristics were examined at a common and broadly attractive food resource, Tecoma stans (Bignoniaceae. Bee visitation was monitored at 120 individual resources in three cities from June 2007 to March 2009. Resource characteristics, spatial distribution, and other local and regional landscape variables were assessed and then used to develop descriptive regression models of forager visitation. The results indicated that increased bee abundance and taxon richness consistently correlated with increased floral abundance. Resource distribution was also influential, with more spatially aggregated resources receiving more foragers. Individual bee guilds had differential responses to the variables tested, but the significant impact of increased floral abundance was generally conserved. Smaller bodied bee species responded to floral abundance, resource structure, and proximity to natural habitats, suggesting that size-related dispersal abilities structure occurrence patterns in this guild. Larger bees favoured spatially aggregated resources in addition to increased floral abundance, suggesting an optimization of foraging energetics. The impact of the urban matrix was minimal and was only seen in generalist feeders (African honey bees. The strongly resource-driven foraging dynamics described in this study can be used to inform conservation and management practices in urban landscapes.

Gender, vulnerability, and violence in urban Pakistan | IDRC ...

International Development Research Centre (IDRC) Digital Library (Canada)

2016-09-30

Sep 30, 2016 ... SERIES: IMPACT STORIES | SAFE AND INCLUSIVE CITIES ... and violence in urban Pakistan (PDF, 198KB) and about the Safe and Inclusive Cities initiative. ... Economic growth is driving population growth in Indian cities, ...

Development of urbanization in arid and semi arid regions based on the water resource carrying capacity -- a case study of Changji, Xinjiang

Science.gov (United States)

Xiao, H.; Zhang, L.; Chai, Z.

2017-07-01

The arid and semiarid region in China where have a relatively weak economic foundation, independent development capacity, and the low-level of urbanization. The new urbanization within these regions is facing severe challenges brought by the constraints of resources. In this paper, we selected the Changji Hui Autonomous Prefecture, Xinjiang Uyghur Autonomous Region as study area. We found that agricultural planting structure is the key water consumption index based on the research about the main water demands of domestic, agriculture and industry. Finally, we suggest that more attentions should be paid to the rational utilization of water resources, population carrying capacity, and adjust and upgrade the industrial structure, with the purpose of coordination with the Silk Road Economic Belt.

Differences between emissions measured in urban driving and certification testing of heavy-duty diesel engines

Science.gov (United States)

Dixit, Poornima; Miller, J. Wayne; Cocker, David R.; Oshinuga, Adewale; Jiang, Yu; Durbin, Thomas D.; Johnson, Kent C.

2017-10-01

Emissions from eight heavy-duty diesel trucks (HDDTs) equipped with three different exhaust aftertreatment systems (ATS) for controlling nitrogen oxide (NOx) emissions were quantified on a chassis dynamometer using driving schedules representative of stop-and-go and free-flow driving in metropolitan areas. The three control technologies were: 1) cooled exhaust gas recirculation (CEGR) plus a diesel particulate filter (DPF); 2) CEGR and DPF plus advanced engine controls; and 3) CEGR and DPF plus selective catalytic reduction with ammonia (SCR). Results for all control technologies and driving conditions showed PM emission factors were less than the standard, while selected non-regulated emissions (ammonia, carbonyls, and C4-C12 hydrocarbons) and a greenhouse gas (nitrous oxide) were at measurement detection limits. However, NOx emission factors depended on the control technology, engine calibration, and driving mode. For example, emissions from engines with cooled-exhaust gas recirculation (CEGR) were 239% higher for stop-and-go driving as compared with free-flow. For CEGR plus selective catalytic reduction (SCR), the ratio was 450%. A deeper analysis was carried out with the assumption that emissions measured for a drive cycle on either the chassis or in-use driving would be similar. Applying the same NTE rules to the chassis data showed emissions during stop-and-go driving often exceeded the certification standard and >90% of the driving did not fall within the Not-To-Exceed (NTE) control area suggesting the NTE requirements do not provide sufficient emissions control under in-use conditions. On-road measurement of emissions using the same mobile lab while the vehicle followed a free-flow driving schedule verified the chassis results. These results have implications for scientists who build inventories using certification values instead of real world emission values and for metropolitan populations, who are exposed to elevated emissions. The differences in values

M and S supporting unmanned autonomous systems (UAxS) concept development and experimentation

Science.gov (United States)

Biagini, Marco; Scaccianoce, Alfio; Corona, Fabio; Forconi, Sonia; Byrum, Frank; Fowler, Olivia; Sidoran, James L.

2017-05-01

The development of the next generation of multi-domain unmanned semi and fully autonomous C4ISR systems involves a multitude of security concerns and interoperability challenges. Conceptual solutions to capability shortfalls and gaps can be identified through Concept Development and Experimentation (CD and E) cycles. Modelling and Simulation (M and S) is a key tool in supporting unmanned autonomous systems (UAxS) CD and E activities and addressing associated security challenges. This paper serves to illustrate the application of M and S to UAxS development and highlight initiatives made by the North Atlantic Treaty Organization (NATO) M and S Centre of Excellence (CoE) to facilitate interoperability. The NATO M and S CoE collaborates with other NATO and Nations bodies in order to develop UAxS projects such as the Allied Command for Transformation Counter Unmanned Autonomous Systems (CUAxS) project or the work of Science and Technology Organization (STO) panels. Some initiatives, such as Simulated Interactive Robotics Initiative (SIRI) made the baseline for further developments and to study emerging technologies in M and S and robotics fields. Artificial Intelligence algorithm modelling, Robot Operating Systems (ROS), network operations, cyber security, interoperable languages and related data models are some of the main aspects considered in this paper. In particular, the implementation of interoperable languages like C-BML and NIEM MilOps are discussed in relation to a Command and Control - Simulation Interoperability (C2SIM) paradigm. All these technologies are used to build a conceptual architecture to support UAxS CD and E.In addition, other projects that the NATO M and S CoE is involved in, such as the NATO Urbanization Project could provide credible future operational environments and benefit UAxS project development, as dual application of UAxS technology in large urbanized areas.In conclusion, this paper contains a detailed overview regarding how applying

Increasing Road Infrastructure Capacity Through the Use of Autonomous Vehicles

Science.gov (United States)

2016-12-01

considerably in recent years. In many urban areas, individuals have foregone purchasing vehicles and have instead joined car - sharing programs like...lots throughout the metropolitan area.107 Car sharing has expanded to include bike-sharing programs like Capital Bikeshare in Washington, DC.108...vehicles could also enhance ride-sharing and car - sharing services, in which a user could request a vehicle via a mobile device to drive directly to the

Insights into the background of autonomic medicine.

Science.gov (United States)

Laranjo, Sérgio; Geraldes, Vera; Oliveira, Mário; Rocha, Isabel

2017-10-01

Knowledge of the physiology underlying the autonomic nervous system is pivotal for understanding autonomic dysfunction in clinical practice. Autonomic dysfunction may result from primary modifications of the autonomic nervous system or be secondary to a wide range of diseases that cause severe morbidity and mortality. Together with a detailed history and physical examination, laboratory assessment of autonomic function is essential for the analysis of various clinical conditions and the establishment of effective, personalized and precise therapeutic schemes. This review summarizes the main aspects of autonomic medicine that constitute the background of cardiovascular autonomic dysfunction. Copyright © 2017 Sociedade Portuguesa de Cardiologia. Publicado por Elsevier España, S.L.U. All rights reserved.

Autonomic Nervous System Disorders

Science.gov (United States)

Your autonomic nervous system is the part of your nervous system that controls involuntary actions, such as the beating of your heart ... breathing and swallowing Erectile dysfunction in men Autonomic nervous system disorders can occur alone or as the result ...

Autonomous authority in relation to the staff regulations of autonomous parliaments

Directory of Open Access Journals (Sweden)

Rafael Cano Silva

2018-04-01

Full Text Available The statutes of Autonomous Parliaments are parliamentary administrative norms approved by each legislative chamber by virtue of their parliamentary autonomy. However, the parliamentary autonomy of each autonomous parliament does not have the same normative aspect for these purposes. It is studied in this article as despite having the Constitution as a common element, it is essential the special attribution that each autonomous chamber has and that the jurisprudence, both of the Constitutional Court, and that of the Supreme Court, has put in value, question that is included in the section related to the jurisprudence. In conclusion, the bureaucratic organization, in what refers to personal media, may be substantially different in each one of the legislative assemblies, as analyzed in the conclusions of this study.

Risk and safety perception on urban and rural roads: Effects of environmental features, driver age and risk sensitivity.

Science.gov (United States)

Cox, Jolene A; Beanland, Vanessa; Filtness, Ashleigh J

2017-10-03

The ability to detect changing visual information is a vital component of safe driving. In addition to detecting changing visual information, drivers must also interpret its relevance to safety. Environmental changes considered to have high safety relevance will likely demand greater attention and more timely responses than those considered to have lower safety relevance. The aim of this study was to explore factors that are likely to influence perceptions of risk and safety regarding changing visual information in the driving environment. Factors explored were the environment in which the change occurs (i.e., urban vs. rural), the type of object that changes, and the driver's age, experience, and risk sensitivity. Sixty-three licensed drivers aged 18-70 years completed a hazard rating task, which required them to rate the perceived hazardousness of changing specific elements within urban and rural driving environments. Three attributes of potential hazards were systematically manipulated: the environment (urban, rural); the type of object changed (road sign, car, motorcycle, pedestrian, traffic light, animal, tree); and its inherent safety risk (low risk, high risk). Inherent safety risk was manipulated by either varying the object's placement, on/near or away from the road, or altering an infrastructure element that would require a change to driver behavior. Participants also completed two driving-related risk perception tasks, rating their relative crash risk and perceived risk of aberrant driving behaviors. Driver age was not significantly associated with hazard ratings, but individual differences in perceived risk of aberrant driving behaviors predicted hazard ratings, suggesting that general driving-related risk sensitivity plays a strong role in safety perception. In both urban and rural scenes, there were significant associations between hazard ratings and inherent safety risk, with low-risk changes perceived as consistently less hazardous than high

A roadmap to effective urban climate change adaptation

Science.gov (United States)

Setiadi, R.

2018-03-01

This paper outlines a roadmap to effective urban climate change adaptation built from our practical understanding of the evidence and effects of climate change and the preparation of climate change adaptation strategies and plans. This roadmap aims to drive research in achieving fruitful knowledge and solution-based achievable recommendations in adapting to climate change in urban areas with effective and systematic manner. This paper underscores the importance of the interplay between local government initiatives and a national government for effective adaptation to climate change and takes into account the policy process and politics. This paper argues that effective urban climate change adaptation has a contribution to build urban resilience and helps the achievement of national government goals and targets in climate change adaptation.

Childhood leukemia and residential proximity to industrial and urban sites

International Nuclear Information System (INIS)

García-Pérez, Javier; López-Abente, Gonzalo; Gómez-Barroso, Diana; Morales-Piga, Antonio; Pardo Romaguera, Elena; Tamayo, Ibon; Fernández-Navarro, Pablo

2015-01-01

Background: Few risk factors for the childhood leukemia are well established. While a small fraction of cases of childhood leukemia might be partially attributable to some diseases or ionizing radiation exposure, the role of industrial and urban pollution also needs to be assessed. Objectives: To ascertain the possible effect of residential proximity to both industrial and urban areas on childhood leukemia, taking into account industrial groups and toxic substances released. Methods: We conducted a population-based case–control study of childhood leukemia in Spain, covering 638 incident cases gathered from the Spanish Registry of Childhood Tumors and for those Autonomous Regions with 100% coverage (period 1990-2011), and 13,188 controls, individually matched by year of birth, sex, and autonomous region of residence. Distances were computed from the respective subject’s residences to the 1068 industries and the 157 urban areas with ≥10,000 inhabitants, located in the study area. Using logistic regression, odds ratios (ORs) and 95% confidence intervals (95%CIs) for categories of distance to industrial and urban pollution sources were calculated, with adjustment for matching variables. Results: Excess risk of childhood leukemia was observed for children living near (≤2.5 km) industries (OR=1.31; 95%CI=1.03–1.67) – particularly glass and mineral fibers (OR=2.42; 95%CI=1.49–3.92), surface treatment using organic solvents (OR=1.87; 95%CI=1.24–2.83), galvanization (OR=1.86; 95%CI=1.07–3.21), production and processing of metals (OR=1.69; 95%CI=1.22–2.34), and surface treatment of metals (OR=1.62; 95%CI=1.22–2.15) – , and urban areas (OR=1.36; 95%CI=1.02–1.80). Conclusions: Our study furnishes some evidence that living in the proximity of industrial and urban sites may be a risk factor for childhood leukemia. - Highlights: • We studied proximity to both industrial and urban sites on childhood leukemia. • We conducted a case–control study in

Childhood leukemia and residential proximity to industrial and urban sites

Energy Technology Data Exchange (ETDEWEB)

García-Pérez, Javier, E-mail: jgarcia@isciii.es [Cancer and Environmental Epidemiology Unit, National Center for Epidemiology, Carlos III Institute of Health, Madrid (Spain); CIBER Epidemiología y Salud Pública (CIBERESP) (Spain); López-Abente, Gonzalo, E-mail: glabente@isciii.es [Cancer and Environmental Epidemiology Unit, National Center for Epidemiology, Carlos III Institute of Health, Madrid (Spain); CIBER Epidemiología y Salud Pública (CIBERESP) (Spain); Gómez-Barroso, Diana, E-mail: dgomez@externos.isciii.es [CIBER Epidemiología y Salud Pública (CIBERESP) (Spain); National Center for Epidemiology, Carlos III Institute of Health, Madrid (Spain); Morales-Piga, Antonio, E-mail: amorales@isciii.es [Rare Disease Research Institute (IIER), Carlos III Institute of Health, Madrid (Spain); Consortium for Biomedical Research in Rare Diseases (CIBERER), Madrid (Spain); Pardo Romaguera, Elena, E-mail: elena.pardo@uv.es [Spanish Registry of Childhood Tumors (RETI-SEHOP), University of Valencia, Valencia (Spain); Tamayo, Ibon, E-mail: ibontama@gmail.com [Public Health Division of Gipuzkoa, BIODonostia Research Institute, Department of Health of the Regional Government of the Basque Country, Donostia (Spain); Fernández-Navarro, Pablo, E-mail: pfernandezn@isciii.es [Cancer and Environmental Epidemiology Unit, National Center for Epidemiology, Carlos III Institute of Health, Madrid (Spain); CIBER Epidemiología y Salud Pública (CIBERESP) (Spain); and others

2015-07-15

Background: Few risk factors for the childhood leukemia are well established. While a small fraction of cases of childhood leukemia might be partially attributable to some diseases or ionizing radiation exposure, the role of industrial and urban pollution also needs to be assessed. Objectives: To ascertain the possible effect of residential proximity to both industrial and urban areas on childhood leukemia, taking into account industrial groups and toxic substances released. Methods: We conducted a population-based case–control study of childhood leukemia in Spain, covering 638 incident cases gathered from the Spanish Registry of Childhood Tumors and for those Autonomous Regions with 100% coverage (period 1990-2011), and 13,188 controls, individually matched by year of birth, sex, and autonomous region of residence. Distances were computed from the respective subject’s residences to the 1068 industries and the 157 urban areas with ≥10,000 inhabitants, located in the study area. Using logistic regression, odds ratios (ORs) and 95% confidence intervals (95%CIs) for categories of distance to industrial and urban pollution sources were calculated, with adjustment for matching variables. Results: Excess risk of childhood leukemia was observed for children living near (≤2.5 km) industries (OR=1.31; 95%CI=1.03–1.67) – particularly glass and mineral fibers (OR=2.42; 95%CI=1.49–3.92), surface treatment using organic solvents (OR=1.87; 95%CI=1.24–2.83), galvanization (OR=1.86; 95%CI=1.07–3.21), production and processing of metals (OR=1.69; 95%CI=1.22–2.34), and surface treatment of metals (OR=1.62; 95%CI=1.22–2.15) – , and urban areas (OR=1.36; 95%CI=1.02–1.80). Conclusions: Our study furnishes some evidence that living in the proximity of industrial and urban sites may be a risk factor for childhood leukemia. - Highlights: • We studied proximity to both industrial and urban sites on childhood leukemia. • We conducted a case–control study in

Formal Verification of Autonomous Vehicle Platooning

OpenAIRE

Kamali, Maryam; Dennis, Louise A.; McAree, Owen; Fisher, Michael; Veres, Sandor M.

2016-01-01

The coordination of multiple autonomous vehicles into convoys or platoons is expected on our highways in the near future. However, before such platoons can be deployed, the new autonomous behaviors of the vehicles in these platoons must be certified. An appropriate representation for vehicle platooning is as a multi-agent system in which each agent captures the "autonomous decisions" carried out by each vehicle. In order to ensure that these autonomous decision-making agents in vehicle platoo...

Autonomous Landing on Moving Platforms

KAUST Repository

Mendoza Chavez, Gilberto

2016-08-01

This thesis investigates autonomous landing of a micro air vehicle (MAV) on a nonstationary ground platform. Unmanned aerial vehicles (UAVs) and micro air vehicles (MAVs) are becoming every day more ubiquitous. Nonetheless, many applications still require specialized human pilots or supervisors. Current research is focusing on augmenting the scope of tasks that these vehicles are able to accomplish autonomously. Precise autonomous landing on moving platforms is essential for self-deployment and recovery of MAVs, but it remains a challenging task for both autonomous and piloted vehicles. Model Predictive Control (MPC) is a widely used and effective scheme to control constrained systems. One of its variants, output-feedback tube-based MPC, ensures robust stability for systems with bounded disturbances under system state reconstruction. This thesis proposes a MAV control strategy based on this variant of MPC to perform rapid and precise autonomous landing on moving targets whose nominal (uncommitted) trajectory and velocity are slowly varying. The proposed approach is demonstrated on an experimental setup.

Volunteering, driving status, and mortality in U.S. retirees.

Science.gov (United States)

Lee, Sei J; Steinman, Michael A; Tan, Erwin J

2011-02-01

To evaluate how accounting for driving status altered the relationship between volunteering and mortality in U.S. retirees. Observational prospective cohort. Nationally representative sample from the Health and Retirement Study in 2000 and 2002 followed to 2006. Retirees aged 65 and older (N=6,408). Participants self-reported their volunteering, driving status, age, sex, race or ethnicity, presence of chronic conditions, geriatric syndromes, socioeconomic factors, functional limitations, and psychosocial factors. Death by December 31, 2006, was the outcome. For drivers, mortality in volunteers (9%) and nonvolunteers (12%) was similar; for limited or non-drivers, mortality for volunteers (15%) was markedly lower than for nonvolunteers (32%). Adjusted results showed that, for drivers, the volunteering-mortality odds ratio (OR) was 0.90 (95% confidence interval (CI)=0.66-1.22), whereas for limited or nondrivers, the OR was 0.62 (95% CI=0.49-0.78) (interaction P=.05). The effect of driving status was greater for rural participants, with greater differences between rural drivers and rural limited or nondrivers (interaction P=.02) and between urban drivers and urban limited or nondrivers (interaction P=.81). The influence of volunteering in decreasing mortality seems to be stronger in rural retirees who are limited or nondrivers. This may be because rural or nondriving retirees are more likely to be socially isolated and thus receive more benefit from the greater social integration from volunteering. © 2011, Copyright the Authors. Journal compilation © 2011, The American Geriatrics Society.

Real-world and specific to vehicle driving cycles for measuring car pollutant emissions

OpenAIRE

ANDRE, M; JOUMARD, R

2004-01-01

In the frame of the European research project ARTEMIS, a set of representative real-world driving cycles has been developed, to ensure a coherency between the pollutant emissions measurements conducted in the frame of the ARTEMIS project and of on-going national campaigns and to enable the integration of all the resulting emission data in the European systems of emission inventory. The 3 real-world ARTEMIS driving cycles (urban, rural road and motorway) represent the observed European drivi...

Urban flood risk warning under rapid urbanization.

Science.gov (United States)

Chen, Yangbo; Zhou, Haolan; Zhang, Hui; Du, Guoming; Zhou, Jinhui

2015-05-01

multiple index fuzzy evaluation warning method, and referred to as DMFEW method. DMFEW first selects 5 evaluation indexes based on the DPSIR model for flood risk warning evaluation, including driving force index, pressure index, state index, impact index and response index. Based on the values of all evaluation indexes, one evaluation index for the whole system evaluation result is determined by using the fuzzy comprehensive evaluation method. The flood risk level is divided into 4 levels, having Level 1 the most serious. Every evaluation index is also categorized as 4 levels, and a linear fuzzy subjection function is proposed to do the fuzzy comprehensive evaluation. Dongguan City is used as the study case to validate the proposed method. The urban flood forecasting model is set up with the topographic data, the city map, the underground pipelines and land cover types, and two flood events are simulated with observed precipitation, one is interpolated from the rain gauges data, and another is estimated by digital weather radar. The simulated results are compared with the investigated water depth, and the results show the model has very good performances. The results are further used for the flood risk warning simulation, and are very reasonable. Copyright © 2015 Elsevier Inc. All rights reserved.

Microcontroller’s Applications in Driving of Industrial Robots

Directory of Open Access Journals (Sweden)

Marius Tufoi

2010-10-01

Full Text Available Microcontrollers and microprocessors are distinct in that, to be able to use a microprocessor, one has to integrate peripheral components like memory chip or data transmitters-receivers, while microcontrollers have integrated all the necessary components for an autonomous operation. There is no need for additional external part because all the required ones are already incorporated in microcontroller’s capsule. Thus using microcontrollers on device construction it can be saved time and space, in terms of geometrical dimensions. The present paper describes an application regarding driving and controlling a automatic guided vehicle using microcontrollers. The kinematic curvature is performed using two guiding wheels that have immobile shafts and distinct velocities.

Urban Evolution: The Role of Water

Directory of Open Access Journals (Sweden)

Sujay S. Kaushal

2015-07-01

Full Text Available The structure, function, and services of urban ecosystems evolve over time scales from seconds to centuries as Earth’s population grows, infrastructure ages, and sociopolitical values alter them. In order to systematically study changes over time, the concept of “urban evolution” was proposed. It allows urban planning, management, and restoration to move beyond reactive management to predictive management based on past observations of consistent patterns. Here, we define and review a glossary of core concepts for studying urban evolution, which includes the mechanisms of urban selective pressure and urban adaptation. Urban selective pressure is an environmental or societal driver contributing to urban adaptation. Urban adaptation is the sequential process by which an urban structure, function, or services becomes more fitted to its changing environment or human choices. The role of water is vital to driving urban evolution as demonstrated by historical changes in drainage, sewage flows, hydrologic pulses, and long-term chemistry. In the current paper, we show how hydrologic traits evolve across successive generations of urban ecosystems via shifts in selective pressures and adaptations over time. We explore multiple empirical examples including evolving: (1 urban drainage from stream burial to stormwater management; (2 sewage flows and water quality in response to wastewater treatment; (3 amplification of hydrologic pulses due to the interaction between urbanization and climate variability; and (4 salinization and alkalinization of fresh water due to human inputs and accelerated weathering. Finally, we propose a new conceptual model for the evolution of urban waters from the Industrial Revolution to the present day based on empirical trends and historical information. Ultimately, we propose that water itself is a critical driver of urban evolution that forces urban adaptation, which transforms the structure, function, and services of urban

Improving the Lane Reference Detection for Autonomous Road Vehicle Control

Directory of Open Access Journals (Sweden)

Felipe Jiménez

2016-01-01

Full Text Available Autonomous road vehicles are increasingly becoming more important and there are several techniques and sensors that are being applied for vehicle control. This paper presents an alternative system for maintaining the position of autonomous vehicles without adding additional elements to the standard sensor architecture, by using a 3D laser scanner for continuously detecting a reference element in situations in which the GNSS receiver fails or provides accuracy below the required level. Considering that the guidance variables are more accurately estimated when dealing with reference points in front of and behind the vehicle, an algorithm based on vehicle dynamics mathematical model is proposed to extend the detected points in cases where the sensor is placed at the front of the vehicle. The algorithm has been tested when driving along a lane delimited by New Jersey barriers at both sides and the results show a correct behaviour. The system is capable of estimating the reference element behind the vehicle with sufficient accuracy when the laser scanner is placed at the front of it, so the robustness of the control input variables (lateral and angular errors estimation is improved making it unnecessary to place the sensor on the vehicle roof or to introduce additional sensors.

On nonlinear control design for autonomous chaotic systems of integer and fractional orders

International Nuclear Information System (INIS)

Ahmad, Wajdi M.; Harb, Ahmad M.

2003-01-01

In this paper, we address the problem of chaos control for autonomous nonlinear chaotic systems. We use the recursive 'backstepping' method of nonlinear control design to derive the nonlinear controllers. The controller effect is to stabilize the output chaotic trajectory by driving it to the nearest equilibrium point in the basin of attraction. We study two nonlinear chaotic systems: an electronic chaotic oscillator model, and a mechanical chaotic 'jerk' model. We demonstrate the robustness of the derived controllers against system order reduction arising from the use of fractional integrators in the system models. Our results are validated via numerical simulations

Autonomic Neuropathy in Diabetes Mellitus

OpenAIRE

Verrotti, Alberto; Prezioso, Giovanni; Scattoni, Raffaella; Chiarelli, Francesco

2014-01-01

Diabetic autonomic neuropathy (DAN) is a serious and common complication of diabetes, often overlooked and misdiagnosed. It is a systemic-wide disorder that may be asymptomatic in the early stages. The most studied and clinically important form of DAN is cardiovascular autonomic neuropathy defined as the impairment of autonomic control of the cardiovascular system in patients with diabetes after exclusion of other causes. The reported prevalence of DAN varies widely depending on inconsistent ...

Modelling and modal properties of the railway vehicle bogie with two individual wheelset drives

Directory of Open Access Journals (Sweden)

Zeman V.

2007-10-01

Full Text Available The paper deals with mathematical modelling of vibration and modal analysis of two-axled bogie of a railway vehicle. In comparison with recent publications introducing mathematical models of an individual wheelset drive, this paper is focused on modelling of complex bogie vibration. The bogie frame is linked by primary suspension to the two wheelset drives with hollow shafts and by secondary suspension to the car body. The method is based on the system decomposition into three subsystems – two individual wheelset drives including the mass of the rail and the bogie frame coupled with a half of the car body – and on modelling of couplings among subsystems. The eigenvalues of a linearized autonomous model and stability conditions are investigated in dependence on longitudinal creepage and forward velocity of the railway vehicle. The nonlinear model will be used for investigating the dynamic loading of bogie components caused by different types of excitation.

Urban Land Expansion and Spatial Dynamics in Globalizing Shanghai

Directory of Open Access Journals (Sweden)

Han Li

2014-12-01

Full Text Available Urban land expansion in China has attracted considerable scholarly attention. However, more work is needed to apply spatial modeling to understanding the mechanisms of urban growth from both institutional and physical perspectives. This paper analyzes urban expansion in Shanghai and its development zones (DZs. We find that, as nodes of global-local interface, the DZs are the most significant components of urban growth in Shanghai, and major spatial patterns of urban expansion in Shanghai are infilling and edge expansion. We apply logistic regression, geographically weighted logistic regression (GWLR and spatial regime regression to investigate the determinants of urban land expansion including physical conditions, state policy and land development. Regressions reveal that, though the market has been an important driving force in urban growth, the state has played a predominant role through the implementation of urban planning and the establishment of DZs to fully capitalize on globalization. We also find that differences in urban growth dynamics exist between the areas inside and outside of the DZs. Finally, this paper discusses policies to promote sustainable development in Shanghai.

Occupant Kinematics in Simulated Autonomous Driving Vehicle Collisions: Influence of Seating Position, Direction and Angle.

Science.gov (United States)

Kitagawa, Yuichi; Hayashi, Shigeki; Yamada, Katsunori; Gotoh, Mitsuaki

2017-11-01

This two-part study analyzed occupant kinematics in simulated collisions of future automated driving vehicles in terms of seating configuration. In part one, a frontal collision was simulated with four occupants with the front seats reversed. The left front seat occupant was unbelted while the others were belted. In part two of the study, occupant restraint was examined in various seating configurations using a single seat model with a three-point seatbelt. The seat direction with respect to impact was considered as forward, rearward, and lateral facing in 45 degree increments. The effect of seat recline was also studied in the forward-facing and rear-facing cases by assuming three positions: driving position, resting position and relaxed position. Occupants were represented by human body finite element models. The results of part one showed that the front seat (rear-facing) occupants were restrained by the seatback, resulting in T1 forward displacement less than 100 mm; the rear seat occupants were restrained by the seatbelt resulting larger T1 forward displacement more than 500 mm. The results of the part two showed the directional dependence of occupant restraint. Greater T1 displacements were observed when the occupant faced lateral or front oblique. However, the seatbelt provided some restraint in all directions considered. The seatback generated contact force to the occupant when it was in the impact direction, including the lateral directions. The relaxed position allowed increased excursion compared to the driving position when the occupant faced rearward, but the magnitude of this increase was lower with lower impact speed.

Discerning non-autonomous dynamics

Energy Technology Data Exchange (ETDEWEB)

Clemson, Philip T.; Stefanovska, Aneta, E-mail: aneta@lancaster.ac.uk

2014-09-30

Structure and function go hand in hand. However, while a complex structure can be relatively safely broken down into the minutest parts, and technology is now delving into nanoscales, the function of complex systems requires a completely different approach. Here the complexity clearly arises from nonlinear interactions, which prevents us from obtaining a realistic description of a system by dissecting it into its structural component parts. At best, the result of such investigations does not substantially add to our understanding or at worst it can even be misleading. Not surprisingly, the dynamics of complex systems, facilitated by increasing computational efficiency, is now readily tackled in the case of measured time series. Moreover, time series can now be collected in practically every branch of science and in any structural scale—from protein dynamics in a living cell to data collected in astrophysics or even via social networks. In searching for deterministic patterns in such data we are limited by the fact that no complex system in the real world is autonomous. Hence, as an alternative to the stochastic approach that is predominantly applied to data from inherently non-autonomous complex systems, theory and methods specifically tailored to non-autonomous systems are needed. Indeed, in the last decade we have faced a huge advance in mathematical methods, including the introduction of pullback attractors, as well as time series methods that cope with the most important characteristic of non-autonomous systems—their time-dependent behaviour. Here we review current methods for the analysis of non-autonomous dynamics including those for extracting properties of interactions and the direction of couplings. We illustrate each method by applying it to three sets of systems typical for chaotic, stochastic and non-autonomous behaviour. For the chaotic class we select the Lorenz system, for the stochastic the noise-forced Duffing system and for the non-autonomous

Discerning non-autonomous dynamics

International Nuclear Information System (INIS)

Clemson, Philip T.; Stefanovska, Aneta

2014-01-01

Structure and function go hand in hand. However, while a complex structure can be relatively safely broken down into the minutest parts, and technology is now delving into nanoscales, the function of complex systems requires a completely different approach. Here the complexity clearly arises from nonlinear interactions, which prevents us from obtaining a realistic description of a system by dissecting it into its structural component parts. At best, the result of such investigations does not substantially add to our understanding or at worst it can even be misleading. Not surprisingly, the dynamics of complex systems, facilitated by increasing computational efficiency, is now readily tackled in the case of measured time series. Moreover, time series can now be collected in practically every branch of science and in any structural scale—from protein dynamics in a living cell to data collected in astrophysics or even via social networks. In searching for deterministic patterns in such data we are limited by the fact that no complex system in the real world is autonomous. Hence, as an alternative to the stochastic approach that is predominantly applied to data from inherently non-autonomous complex systems, theory and methods specifically tailored to non-autonomous systems are needed. Indeed, in the last decade we have faced a huge advance in mathematical methods, including the introduction of pullback attractors, as well as time series methods that cope with the most important characteristic of non-autonomous systems—their time-dependent behaviour. Here we review current methods for the analysis of non-autonomous dynamics including those for extracting properties of interactions and the direction of couplings. We illustrate each method by applying it to three sets of systems typical for chaotic, stochastic and non-autonomous behaviour. For the chaotic class we select the Lorenz system, for the stochastic the noise-forced Duffing system and for the non-autonomous

Modeling connected and autonomous vehicles in heterogeneous traffic flow

Science.gov (United States)

Ye, Lanhang; Yamamoto, Toshiyuki

2018-01-01

The objective of this study was to develop a heterogeneous traffic-flow model to study the possible impact of connected and autonomous vehicles (CAVs) on the traffic flow. Based on a recently proposed two-state safe-speed model (TSM), a two-lane cellular automaton (CA) model was developed, wherein both the CAVs and conventional vehicles were incorporated in the heterogeneous traffic flow. In particular, operation rules for CAVs are established considering the new characteristics of this emerging technology, including autonomous driving through the adaptive cruise control and inter-vehicle connection via short-range communication. Simulations were conducted under various CAV-penetration rates in the heterogeneous flow. The impact of CAVs on the road capacity was numerically investigated. The simulation results indicate that the road capacity increases with an increase in the CAV-penetration rate within the heterogeneous flow. Up to a CAV-penetration rate of 30%, the road capacity increases gradually; the effect of the difference in the CAV capability on the growth rate is insignificant. When the CAV-penetration rate exceeds 30%, the growth rate is largely decided by the capability of the CAV. The greater the capability, the higher the road-capacity growth rate. The relationship between the CAV-penetration rate and the road capacity is numerically analyzed, providing some insights into the possible impact of the CAVs on traffic systems.

Thermal Characteristics of Urban Landscapes

Science.gov (United States)

Luvall, Jeffrey C.; Quattrochi, Dale A.

1998-01-01

Although satellite data are very useful for analysis of the urban heat island effect at a coarse scale, they do not lend themselves to developing a better understanding of which surfaces across the city contribute or drive the development of the urban heat island effect. Analysis of thermal energy responses for specific or discrete surfaces typical of the urban landscape (e.g., asphalt, building rooftops, vegetation) requires measurements at a very fine spatial scale (i.e., less than 15 m) to adequately resolve these surfaces and their attendant thermal energy regimes. Additionally, very fine scale spatial resolution thermal infrared data, such as that obtained from aircraft, are very useful for demonstrating to planning officials, policy makers, and the general populace the benefits of the urban forest. These benefits include mitigating the urban heat island effect, making cities more aesthetically pleasing and more habitable environments, and aid in overall cooling of the community. High spatial resolution thermal data are required to quantify how artificial surfaces within the city contribute to an increase in urban heating and the benefit of cool surfaces (e.g., surface coatings that reflect much of the incoming solar radiation as opposed to absorbing it thereby lowering urban temperatures). The TRN (thermal response number) is a technique using aircraft remotely sensed surface temperatures to quantify the thermal response of urban surfaces. The TRN was used to quantify the thermal response of various urban surface types ranging from completely vegetated surfaces to asphalt and concrete parking lots for Huntsville, AL.

Design and Development of Autonomous High Voltage Driving System for DEAP Actuator in Radiator Thermostat

DEFF Research Database (Denmark)

Huang, Lina; Zhang, Zhe; Andersen, Michael A. E.

2014-01-01

In radiator thermostat applications, DEAP (Dielectric Electro Active Polymer) actuator tends to be a good candidate to replace the conventional self-actuating or step motor based actuator due to its intrinsic advantages. The capacitive property and high voltage (HV) driving demand of DEAP actuator...

Structural Discrimination and Autonomous Vehicles

DEFF Research Database (Denmark)

Liu, Hin-Yan

2016-01-01

This paper examines the potential for structural discrimination to be woven into the fabric of autonomous vehicle developments, which remain underexplored and undiscussed. The prospect for structural discrimination arises as a result of the coordinated modes of autonomous vehicle behaviour...... individual identity, and potentially relative worth, to autonomous vehicles engaging in a crash damage calculus. At the risk of introducing these ideas into the development of autonomous vehicles, this paper hopes to spark a debate to foreclose these eventualities....... that is prescribed by its code. This leads to the potential for individuated outcomes to be networked and thereby multiplied consistently to any number of vehicles implementing such a code. The aggregated effects of such algorithmic policy preferences will thus cumulate in the reallocation of benefits and burdens...

Exploring the Linkage between Urban Flood Risk and Spatial Patterns in Small Urbanized Catchments of Beijing, China

Directory of Open Access Journals (Sweden)

Lei Yao

2017-02-01

Full Text Available In the context of global urbanization, urban flood risk in many cities has become a serious environmental issue, threatening the health of residents and the environment. A number of hydrological studies have linked urban flooding issues closely to the spectrum of spatial patterns of urbanization, but relatively little attention has been given to small-scale catchments within the realm of urban systems. This study aims to explore the hydrological effects of small-scaled urbanized catchments assigned with various landscape patterns. Twelve typical residential catchments in Beijing were selected as the study areas. Total Impervious Area (TIA, Directly Connected Impervious Area (DCIA, and a drainage index were used as the catchment spatial metrics. Three scenarios were designed as different spatial arrangement of catchment imperviousness. Runoff variables including total and peak runoff depth (Qt and Qp were simulated by using Strom Water Management Model (SWMM. The relationship between catchment spatial patterns and runoff variables were determined, and the results demonstrated that, spatial patterns have inherent influences on flood risks in small urbanized catchments. Specifically: (1 imperviousness acts as an effective indicator in affecting both Qt and Qp; (2 reducing the number of rainwater inlets appropriately will benefit the catchment peak flow mitigation; (3 different spatial concentrations of impervious surfaces have inherent influences on Qp. These findings provide insights into the role of urban spatial patterns in driving rainfall-runoff processes in small urbanized catchments, which is essential for urban planning and flood management.

Exploring the Linkage between Urban Flood Risk and Spatial Patterns in Small Urbanized Catchments of Beijing, China

Science.gov (United States)

Yao, Lei; Chen, Liding; Wei, Wei

2017-01-01

In the context of global urbanization, urban flood risk in many cities has become a serious environmental issue, threatening the health of residents and the environment. A number of hydrological studies have linked urban flooding issues closely to the spectrum of spatial patterns of urbanization, but relatively little attention has been given to small-scale catchments within the realm of urban systems. This study aims to explore the hydrological effects of small-scaled urbanized catchments assigned with various landscape patterns. Twelve typical residential catchments in Beijing were selected as the study areas. Total Impervious Area (TIA), Directly Connected Impervious Area (DCIA), and a drainage index were used as the catchment spatial metrics. Three scenarios were designed as different spatial arrangement of catchment imperviousness. Runoff variables including total and peak runoff depth (Qt and Qp) were simulated by using Strom Water Management Model (SWMM). The relationship between catchment spatial patterns and runoff variables were determined, and the results demonstrated that, spatial patterns have inherent influences on flood risks in small urbanized catchments. Specifically: (1) imperviousness acts as an effective indicator in affecting both Qt and Qp; (2) reducing the number of rainwater inlets appropriately will benefit the catchment peak flow mitigation; (3) different spatial concentrations of impervious surfaces have inherent influences on Qp. These findings provide insights into the role of urban spatial patterns in driving rainfall-runoff processes in small urbanized catchments, which is essential for urban planning and flood management. PMID:28264521

Decentralized Control of Autonomous Vehicles

Science.gov (United States)

2003-01-01

Autonomous Vehicles by John S. Baras, Xiaobo Tan, Pedram Hovareshti CSHCN TR 2003-8 (ISR TR 2003-14) Report Documentation Page Form ApprovedOMB No. 0704...AND SUBTITLE Decentralized Control of Autonomous Vehicles 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT...Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18 Decentralized Control of Autonomous Vehicles ∗ John S. Baras, Xiaobo Tan, and Pedram

Integrated infomobility services for urban freight distribution

NARCIS (Netherlands)

Zuccotti, S.; Corongiu, A.; Forkert, S.; Nasr, A.; Quak, H.; Torres, C.

2011-01-01

City logistics is one of the causes of today's road congestion in our cities, but at the same time its efficiency is affected by the traffic problems. The driving behaviour and mission strategies used by vans and lorries operating in urban areas usually does not exploit modern infomobility

Public Health, Ethics, and Autonomous Vehicles.

Science.gov (United States)

Fleetwood, Janet

2017-04-01

With the potential to save nearly 30 000 lives per year in the United States, autonomous vehicles portend the most significant advance in auto safety history by shifting the focus from minimization of postcrash injury to collision prevention. I have delineated the important public health implications of autonomous vehicles and provided a brief analysis of a critically important ethical issue inherent in autonomous vehicle design. The broad expertise, ethical principles, and values of public health should be brought to bear on a wide range of issues pertaining to autonomous vehicles.

Fully Automated Driving: Impact of Trust and Practice on Manual Control Recovery.

Science.gov (United States)

Payre, William; Cestac, Julien; Delhomme, Patricia

2016-03-01

An experiment was performed in a driving simulator to investigate the impacts of practice, trust, and interaction on manual control recovery (MCR) when employing fully automated driving (FAD). To increase the use of partially or highly automated driving efficiency and to improve safety, some studies have addressed trust in driving automation and training, but few studies have focused on FAD. FAD is an autonomous system that has full control of a vehicle without any need for intervention by the driver. A total of 69 drivers with a valid license practiced with FAD. They were distributed evenly across two conditions: simple practice and elaborate practice. When examining emergency MCR, a correlation was found between trust and reaction time in the simple practice group (i.e., higher trust meant a longer reaction time), but not in the elaborate practice group. This result indicated that to mitigate the negative impact of overtrust on reaction time, more appropriate practice may be needed. Drivers should be trained in how the automated device works so as to improve MCR performance in case of an emergency. The practice format used in this study could be used for the first interaction with an FAD car when acquiring such a vehicle. © 2015, Human Factors and Ergonomics Society.

The influence of Multiple Goals on Driving Behavior: the case of Safety, Time Saving, and Fuel Saving

OpenAIRE

DOGAN, Ebru; STEG, Linda; DELHOMME, Patricia

2011-01-01

Due to the innate complexity of the task drivers have to manage multiple goals while driving and the importance of certain goals may vary over time leading to priority being given to different goals depending on the circumstances. This study aimed to investigate drivers' behavioral regulation while managing multiple goals during driving. To do so participants drove on urban and rural roads in a driving simulator while trying to manage fuel saving and time saving goals, besides the safety goal...

Sustainability of Self-Driving Mobility: An Analysis of Carbon Emissions Between Autonomous Vehicles and Conventional Modes of Transportation

OpenAIRE

Mccarthy, John Francis

2017-01-01

The primary contribution of this paper is to identify the potential variables through which vehicle automation may affect carbon emissions in the transportation sector, and compare modal shifts between conventional vehicles, public transportation, and pilot autonomous vehicles (AVs). AV programs that are rapidly emerging in cities, states, and nations across the globe mark the early stages of the next transportation revolution akin to the steam engine and assembly line. By safely allowing hum...

A systems approach to reduce urban rail energy consumption

International Nuclear Information System (INIS)

González-Gil, A.; Palacin, R.; Batty, P.; Powell, J.P.

2014-01-01

Highlights: • An insightful overview of energy usage in urban rail systems is given. • The principal measures to reduce urban rail energy consumption are appraised. • A methodology is proposed to help implement energy saving schemes in urban rail. • Regenerative braking is shown to offer the greatest energy saving potential. - Abstract: There is increasing interest in the potential of urban rail to reduce the impact of metropolitan transportation due to its high capacity, reliability and absence of local emissions. However, in a context characterised by increasing capacity demands and rising energy costs, and where other transport modes are considerably improving their environmental performance, urban rail must minimise its energy use without affecting its service quality. Urban rail energy consumption is defined by a wide range of interdependent factors; therefore, a system wide perspective is required, rather than focusing on energy savings at subsystem level. This paper contributes to the current literature by proposing an holistic approach to reduce the overall energy consumption of urban rail. Firstly, a general description of this transport mode is given, which includes an assessment of its typical energy breakdown. Secondly, a comprehensive appraisal of the main practices, strategies and technologies currently available to minimise its energy use is provided. These comprise: regenerative braking, energy-efficient driving, traction losses reduction, comfort functions optimisation, energy metering, smart power management and renewable energy micro-generation. Finally, a clear, logical methodology is described to optimally define and implement energy saving schemes in urban rail systems. This includes general guidelines for a qualitative assessment and comparison of measures alongside a discussion on the principal interdependences between them. As a hypothetical example of application, the paper concludes that the energy consumption in existing urban

Methodology for kinematic cycle characterization of vehicles with fixed routes in urban areas

OpenAIRE

Jiménez Alonso, Felipe; Román de Andrés, Alfonso; López Martínez, José María

2013-01-01

This paper analyses the driving cycles of a fleet of vehicles with predetermined urban itineraries. Most driving cycles developed for such type of vehicles do not properly address variability among itineraries. Here we develop a polygonal driving cycle that assesses each group of related routes, based on microscopic parameters. It measures the kinematic cycles of the routes traveled by the vehicle fleet, segments cycles into micro-cycles, and characterizes their properties, groups them int...

U.S. Forest Service and partners deliver urban wildlife research in support of conservation and management

Science.gov (United States)

Susannah B. Lerman; Nancy F. Sonti

2015-01-01

Urban wildlife contributes to the vibrancy of our cities, adds value to the places we live and allows urban residents to connect with nature without driving hours to a protected reserve. Land and water conservation projects have the potential to serve as a refuge for species impacted by urbanization, and in so doing, strengthening the connection between the growing...

Urbanization and the Geography of Development

OpenAIRE

Henderson, J. Vernon

2013-01-01

This paper focuses on several interrelated key questions on the geography of development. Although we herald cities with their industrial bases as 'engines of growth,' does industrialization in fact drive urbanization?1 What economic activities do cities of different sizes undertake? Does this change as countries develop? If so, what are the policy implications? Do development policies hav...

Semi-Autonomous Vehicle Project

Science.gov (United States)

Stewart, Christopher

2016-01-01

The primary objective this summer is "evaluating standards for wireless architecture for the internet of things". The Internet of Things is the network of physical objects or "things" embedded with electronics, software, sensors and network connectivity which enables these objects to collect and exchange data and make decisions based on said data. This was accomplished by creating a semi-autonomous vehicle that takes advantage of multiple sensors, cameras, and onboard computers and combined them with a mesh network which enabled communication across large distances with little to no interruption. The mesh network took advantage of what is known as DTN - Disruption Tolerant Networking which according to NASA is the new communications protocol that is "the first step towards interplanetary internet." The use of DTN comes from the fact that it will store information if an interruption in communications is detected and even forward that information via other relays within range so that the data is not lost. This translates well into the project because as the car moves further away from whatever is sending it commands (in this case a joystick), the information can still be forwarded to the car with little to no loss of information thanks to the mesh nodes around the driving area.

Behavioural domain knowledge transfer for autonomous agents

CSIR Research Space (South Africa)

Rosman, Benjamin S

2014-11-01

Full Text Available , and Behavior Transfer in Autonomous Robots, AAAI 2014 Fall Symposium Series, 13-15 November 2014 Behavioural Domain Knowledge Transfer for Autonomous Agents Benjamin Rosman Mobile Intelligent Autonomous Systems Modelling and Digital Science Council...

Comparison between motorcyclist’ violation behavior and accidents in urban and rural area in Indonesia: A comparative study

Science.gov (United States)

Rahmawati, N.; Widyanti, A.

2017-12-01

Some studies stated that the main factor related to the accident was driving behavior. This study aims to explore the differences between motorcyclist” behaviour and repetitive violation behaviour in two different area, urban and rural area in Indonesia. Respondents were selected based on convenience sampling method in Bandung as a representative of urban area and Kulon Progo as a representative of rural area. They were asked to fill in a questionnaire about driving behaviour, consists of 10 dimensions or 51 questions with Likert scales ranging from 1 (very often) to 6 (never). The results of this study shows that the motorcyclists’ behavior differ significantly between rural and urban area. Motorcyclists in the urban area (Bandung) are more committed to violations than in rural area (Kulon Progo). This result is not in line with previous studies in Australia and United States which stated that motorcyclists in rural area more frequently speeding than in urban area. Implications of the result are discussed.

Compact autonomous navigation system (CANS)

Science.gov (United States)

Hao, Y. C.; Ying, L.; Xiong, K.; Cheng, H. Y.; Qiao, G. D.

2017-11-01

Autonomous navigation of Satellite and constellation has series of benefits, such as to reduce operation cost and ground station workload, to avoid the event of crises of war and natural disaster, to increase spacecraft autonomy, and so on. Autonomous navigation satellite is independent of ground station support. Many systems are developed for autonomous navigation of satellite in the past 20 years. Along them American MANS (Microcosm Autonomous Navigation System) [1] of Microcosm Inc. and ERADS [2] [3] (Earth Reference Attitude Determination System) of Honeywell Inc. are well known. The systems anticipate a series of good features of autonomous navigation and aim low cost, integrated structure, low power consumption and compact layout. The ERADS is an integrated small 3-axis attitude sensor system with low cost and small volume. It has the Earth center measurement accuracy higher than the common IR sensor because the detected ultraviolet radiation zone of the atmosphere has a brightness gradient larger than that of the IR zone. But the ERADS is still a complex system because it has to eliminate many problems such as making of the sapphire sphere lens, birefringence effect of sapphire, high precision image transfer optical fiber flattener, ultraviolet intensifier noise, and so on. The marginal sphere FOV of the sphere lens of the ERADS is used to star imaging that may be bring some disadvantages., i.e. , the image energy and attitude measurements accuracy may be reduced due to the tilt image acceptance end of the fiber flattener in the FOV. Besides Japan, Germany and Russia developed visible earth sensor for GEO [4] [5]. Do we have a way to develop a cheaper/easier and more accurate autonomous navigation system that can be used to all LEO spacecraft, especially, to LEO small and micro satellites? To return this problem we provide a new type of the system—CANS (Compact Autonomous Navigation System) [6].

Hybrid Map-Based Navigation Method for Unmanned Ground Vehicle in Urban Scenario

Directory of Open Access Journals (Sweden)

Huiyan Chen

2013-07-01

Full Text Available To reduce the data size of metric map and map matching computational cost in unmanned ground vehicle self-driving navigation in urban scenarios, a metric-topological hybrid map navigation system is proposed in this paper. According to the different positioning accuracy requirements, urban areas are divided into strong constraint (SC areas, such as roads with lanes, and loose constraint (LC areas, such as intersections and open areas. As direction of the self-driving vehicle is provided by traffic lanes and global waypoints in the road network, a simple topological map is fit for the navigation in the SC areas. While in the LC areas, the navigation of the self-driving vehicle mainly relies on the positioning information. Simultaneous localization and mapping technology is used to provide a detailed metric map in the LC areas, and a window constraint Markov localization algorithm is introduced to achieve accurate position using laser scanner. Furthermore, the real-time performance of the Markov algorithm is enhanced by using a constraint window to restrict the size of the state space. By registering the metric maps into the road network, a hybrid map of the urban scenario can be constructed. Real unmanned vehicle mapping and navigation tests demonstrated the capabilities of the proposed method.

Concepts of the Internet of Things from the Aspect of the Autonomous Mobile Robots

Directory of Open Access Journals (Sweden)

Janos Simon

2015-01-01

Full Text Available The Internet of Things (IoT is slowly gaining grounds and through the properties of barcodes, QR codes, RFID, active sensors and IPv6, objects are fitted with some form of readability and traceability. People are becoming part of digital global network driven by personal interests. The feeling being part of a community and the constant drive of getting connected from real life finds it continuation in digital networks. This article investigates the concepts of the internet of things from the aspect of the autonomous mobile robots with an overview of the performances of the currently available database systems.

Human-Robot Teaming: From Space Robotics to Self-Driving Cars

Science.gov (United States)

Fong, Terry

2017-01-01

In this talk, I describe how NASA Ames has been developing and testing robots for space exploration. In our research, we have focused on studying how human-robot teams can increase the performance, reduce the cost, and increase the success of space missions. A key tenet of our work is that humans and robots should support one another in order to compensate for limitations of manual control and autonomy. This principle has broad applicability beyond space exploration. Thus, I will conclude by discussing how we have worked with Nissan to apply our methods to self-driving cars, enabling humans to support autonomous vehicles operating in unpredictable and difficult situations.

Examining physiological responses across different driving maneuvers during an on-road driving task: a pilot study comparing older and younger drivers.

Science.gov (United States)

Koppel, S; Kuo, J; Berecki-Gisolf, J; Boag, R; Hue, Y-X; Charlton, J L

2015-01-01

This pilot study aimed to investigate physiological responses during an on-road driving task for older and younger drivers. Five older drivers (mean age = 74.60 years [2.97]) and 5 younger drivers (mean age = 30.00 years [3.08]) completed a series of cognitive assessments (Montreal Cognitive Assessment [MoCA], Mini Mental Status Examination [MMSE]; Trail Making Test [Trails A and Trails B]) and an on-road driving task along a predetermined, standardized urban route in their own vehicle. Driving performance was observed and scored by a single trained observer using a standardized procedure, where driving behaviors (appropriate and inappropriate) were scored for intersection negotiation, lane changing, and merging. During the on-road driving task, participants' heart rate (HR) was monitored with an unobtrusive physiological monitor. Younger drivers performed significantly better on all cognitive assessments compared to older drivers (MoCA: t(8) = 3.882, P task revealed a high level of appropriate overall driving behavior (M = 87%, SD = 7.62, range = 73-95%), including intersection negotiation (M = 89%, SD = 8.37%), lane changing (M = 100%), and merging (M = 53%, SD = 28.28%). The overall proportion of appropriate driving behavior did not significantly differ across age groups (younger drivers: M = 87.6%, SD = 9.04; older drivers: M = 87.0%, SD = 6.96; t(8) = 0.118, P =.91). Although older drivers scored lower than younger drivers on the cognitive assessments, there was no indication of cognitive overload among older drivers based on HR response to the on-road driving task. The results provide preliminary evidence that mild age-related cognitive impairment may not pose a motor vehicle crash hazard for the wider older driver population. To maintain safe mobility of the aging population, further research into the specific crash risk factors in the older driver population is warranted.

Drive reinforcement neural networks for reactor control. Final report

International Nuclear Information System (INIS)

Williams, J.G.; Jouse, W.C.

1995-01-01

In view of the loss of the third year funding, the scope of the project goals has been revised. The revision in project scope no longer allows for the detailed modeling of the EBR-11 start-up task that was originally envisaged. The authors are continuing, however, to model the control of the rapid power ascent of the University of Arizona TRIGA reactor using a model-based controller and using a drive reinforcement neural network. These will be combined during the concluding period of the project into a hierarchical control architecture. In addition, the modeling of a PWR feedwater heater has continued, and an autonomous fault-tolerant software architecture for its control has been proposed

Human Supervision of Multiple Autonomous Vehicles

Science.gov (United States)

2013-03-22

AFRL-RH-WP-TR-2013-0143 HUMAN SUPERVISION OF MULTIPLE AUTONOMOUS VEHICLES Heath A. Ruff Ball...REPORT TYPE Interim 3. DATES COVERED (From – To) 09-16-08 – 03-22-13 4. TITLE AND SUBTITLE HUMAN SUPERVISION OF MULTIPLE AUTONOMOUS VEHICLES 5a...Supervision of Multiple Autonomous Vehicles To support the vision of a system that enables a single operator to control multiple next-generation

Remediation of Highland Drive Landfill: Technical Challenges of Segregating Co-Mingled LLRW and Municipal Solid Waste in an Urbanized Area - 13319

Energy Technology Data Exchange (ETDEWEB)

Daniel, Jeff [Conestoga-Rovers and Associates, 651 Colby Drive, Waterloo, ON (Canada); Lawrence, Dave [Public Works and Government Services Canada, 115 Toronto Road, Port Hope, ON (Canada); Case, Glenn [Atomic Energy of Canada Limited, 115 Toronto Road, Port Hope, ON (Canada); Fergusson Jones, Andrea [MMM Group Ltd., 100 Commerce Valley Drive West, Thornhill, ON (Canada)

2013-07-01

Highland Drive Landfill is an inactive Municipal Solid Waste (MSW) Landfill which received waste from the 1940's until its closure in 1991. During a portion of its active life, the Landfill received low-level radioactive waste (LLRW) which currently exists both in a defined layer and co-mingled with MSW. Remediation of this site to remove the LLRW to meet established cleanup criteria, forms part of the Port Hope Project being undertaken by Atomic Energy Canada Limited (AECL) and Public Works and Government Services Canada (PWGSC) as part of the Port Hope Area Initiative (PHAI). The total volume of LLRW and co-mingled LLRW/MSW estimated to require removal from the Highland Drive Landfill is approximately 51,900 cubic metres (m{sup 3}). The segregation and removal of LLRW at the Highland Drive Landfill presents a number of unique technical challenges due to the co-mingled waste and location of the Landfill in an urbanized area. Key challenges addressed as part of the design process included: delineation of the extent of LLRW, development of cut lines, and estimation of the quantity of co-mingled LLRW in a heterogeneous matrix; protection of adjacent receptors in a manner which would not impact the use of adjacent facilities which include residences, a recreational facility, and a school; coordination and phasing of the work to allow management of six separate material streams including clean soil, MSW, co-mingled LLRW/MSW, LLRW, un-impacted water, and impacted water/leachate within a confined environment; and development of a multi-tiered and adaptive program of monitoring and control measures for odour, dust, and water including assessment of risk of exceedance of monitoring criteria. In addition to ensuring public safety and protection of the environment during remedy implementation, significant effort in the design process was paid to balancing the advantages of increased certainty, including higher production rates, against the costs of attaining increased

Remediation of Highland Drive Landfill: Technical Challenges of Segregating Co-Mingled LLRW and Municipal Solid Waste in an Urbanized Area - 13319

International Nuclear Information System (INIS)

Daniel, Jeff; Lawrence, Dave; Case, Glenn; Fergusson Jones, Andrea

2013-01-01

Highland Drive Landfill is an inactive Municipal Solid Waste (MSW) Landfill which received waste from the 1940's until its closure in 1991. During a portion of its active life, the Landfill received low-level radioactive waste (LLRW) which currently exists both in a defined layer and co-mingled with MSW. Remediation of this site to remove the LLRW to meet established cleanup criteria, forms part of the Port Hope Project being undertaken by Atomic Energy Canada Limited (AECL) and Public Works and Government Services Canada (PWGSC) as part of the Port Hope Area Initiative (PHAI). The total volume of LLRW and co-mingled LLRW/MSW estimated to require removal from the Highland Drive Landfill is approximately 51,900 cubic metres (m 3 ). The segregation and removal of LLRW at the Highland Drive Landfill presents a number of unique technical challenges due to the co-mingled waste and location of the Landfill in an urbanized area. Key challenges addressed as part of the design process included: delineation of the extent of LLRW, development of cut lines, and estimation of the quantity of co-mingled LLRW in a heterogeneous matrix; protection of adjacent receptors in a manner which would not impact the use of adjacent facilities which include residences, a recreational facility, and a school; coordination and phasing of the work to allow management of six separate material streams including clean soil, MSW, co-mingled LLRW/MSW, LLRW, un-impacted water, and impacted water/leachate within a confined environment; and development of a multi-tiered and adaptive program of monitoring and control measures for odour, dust, and water including assessment of risk of exceedance of monitoring criteria. In addition to ensuring public safety and protection of the environment during remedy implementation, significant effort in the design process was paid to balancing the advantages of increased certainty, including higher production rates, against the costs of attaining increased certainty

IU.R Residential Urban Interfaces. Strategies and tools for a renewal project

Directory of Open Access Journals (Sweden)

Sabrina Borgianni

2012-10-01

Full Text Available In the contemporary city, quality of urban space is a key element in life quality and a driving force for the competitiveness. The increasing complexity of relationships and the evolving needs and use patterns reflect urban complexity in a corresponding physical space: the urban interface, an entity that mediates the sociospatial relationships between public and private sphere and that assumes strategic importance in redevelopment of suburbs. Research, carried out on a case ‘study project’, defines the criteria for a Residential Urban Interface approach as a tool for micro-urban redevelopment which merge into the proposed Project Plan, the metaproject field aimed at process design, space design and design of management and use scenario.

Development of emission factors for motorcycles and shared auto-rickshaws using real-world driving cycle for a typical Indian city.

Science.gov (United States)

Adak, Prasenjit; Sahu, Ravi; Elumalai, Suresh Pandian

2016-02-15

Vehicular emission is one of the most important contributors of urban air pollution. To quantify the impact of traffic on urban air quality, it is necessary to quantify vehicular emission. In many cities of India, such as Dhanbad, shared auto-rickshaw is the pre-dominant mode of transportation. Indian Driving Cycle (IDC) and Modified Indian Driving Cycle (MIDC) are used for emission testing of motorcycles, shared auto-rickshaws and passenger cars in India for regulatory purposes. IDC used for motorcycles and shared auto-rickshaws does not recognize the difference in two vehicle classes in terms of driving pattern. In real world, shared auto-rickshaws, behave differently than motorcycles. To quantify the impact of shared auto-rickshaws on urban air quality accurately, emission factors (EFs) are required to derive from real-world driving cycles (DCs). In heterogeneous traffic, vehicles of one class affect the behavior of vehicles of other classes. To estimate the emissions from different vehicle classes accurately, EFs for motorcycles and passenger cars are also required to be revised. In this study, real-world DCs were developed for motorcycles, shared auto-rickshaws and passenger cars in Dhanbad. Developed DCs were used to calculate EFs for respective classes. Shared auto-rickshaws were found to have the highest deviation from EFs derived using IDC. Copyright © 2015 Elsevier B.V. All rights reserved.

Economy of the Arctic “Islands”: The Case of Nenets and Chukotka Autonomous Okrugs

Directory of Open Access Journals (Sweden)

Alexander Nikolayevich Pelyasov

2017-03-01

Full Text Available The article discusses the economy of Arctic «islands». These territories of the Russian Arctic are unavailable by transport all the year round and have considerable specificity in comparison with the other regions of the Russian and North European Arctic. The authors consider the economy of Arctic «islands» on the example of the Nenets and Chukotka Autonomous Areas. Despite the significant similarity in the economic and social parameters, after careful study, two regions show considerable internal differences. In order to identify dissimilarity, in the comparative analysis, we use the theoretical idea of the Arctic economy as a unity of three sectors — the traditional one, corporate (market one and transfer (state one. Each sector has the key contradictions, structures and its trajectory of evolution. The comparison of traditional sectors reveals significant landscape diversity of Chukotka in comparison with the Nenets tundra. The corporate sector of the Nenets Autonomous Okrug economy is significantly younger than in Chukotka, due to the fact that oil and gas development is relatively new practice for the region. On the other hand, because of the mining development of Chukotka gold, which started in 1960-s, it can be considered as an old industrial region. The level of the profitability of gold production is significantly lower than of the Nenets oil production. Therefore, we propose to include the economy of the Nenets Autonomous Okrug to the rental model, and Chukotka economy to the transfer model. The difference of transfer sectors of two areas is the result of not only the difference in the power of the regional budgets, but also of the urban settlement structure which is centralized in the Nenets Autonomous Okrug and polycentric in Chukotka. It means that the public health and culture in the Nenets Autonomous Okrug are dated generally for the capital of Naryan-Mar, and social facilities in Chukotka are significantly decentralized and

Autonomous Cars: In Favor of a Mandatory Ethics Setting.

Science.gov (United States)

Gogoll, Jan; Müller, Julian F

2017-06-01

The recent progress in the development of autonomous cars has seen ethical questions come to the forefront. In particular, life and death decisions regarding the behavior of self-driving cars in trolley dilemma situations are attracting widespread interest in the recent debate. In this essay we want to ask whether we should implement a mandatory ethics setting (MES) for the whole of society or, whether every driver should have the choice to select his own personal ethics setting (PES). While the consensus view seems to be that people would not be willing to use an automated car that might sacrifice themselves in a dilemma situation, we will defend the somewhat contra-intuitive claim that this would be nevertheless in their best interest. The reason is, simply put, that a PES regime would most likely result in a prisoner's dilemma.

Soft Dielectric Elastomer Oscillators Driving Bioinspired Robots.

Science.gov (United States)

Henke, E-F Markus; Schlatter, Samuel; Anderson, Iain A

2017-12-01

Entirely soft robots with animal-like behavior and integrated artificial nervous systems will open up totally new perspectives and applications. To produce them, we must integrate control and actuation in the same soft structure. Soft actuators (e.g., pneumatic and hydraulic) exist but electronics are hard and stiff and remotely located. We present novel soft, electronics-free dielectric elastomer oscillators, which are able to drive bioinspired robots. As a demonstrator, we present a robot that mimics the crawling motion of the caterpillar, with an integrated artificial nervous system, soft actuators and without any conventional stiff electronic parts. Supplied with an external DC voltage, the robot autonomously generates all signals that are necessary to drive its dielectric elastomer actuators, and it translates an in-plane electromechanical oscillation into a crawling locomotion movement. Therefore, all functional and supporting parts are made of polymer materials and carbon. Besides the basic design of this first electronic-free, biomimetic robot, we present prospects to control the general behavior of such robots. The absence of conventional stiff electronics and the exclusive use of polymeric materials will provide a large step toward real animal-like robots, compliant human machine interfaces, and a new class of distributed, neuron-like internal control for robotic systems.

Autonomous Star Tracker Algorithms

DEFF Research Database (Denmark)

Betto, Maurizio; Jørgensen, John Leif; Kilsgaard, Søren

1998-01-01

Proposal, in response to an ESA R.f.P., to design algorithms for autonomous star tracker operations.The proposal also included the development of a star tracker breadboard to test the algorithms performances.......Proposal, in response to an ESA R.f.P., to design algorithms for autonomous star tracker operations.The proposal also included the development of a star tracker breadboard to test the algorithms performances....

Liveness-Based RRT Algorithm for Autonomous Underwater Vehicles Motion Planning

Directory of Open Access Journals (Sweden)

Yang Li

2017-01-01

Full Text Available Motion planning is a crucial, basic issue in robotics, which aims at driving vehicles or robots towards to a given destination with various constraints, such as obstacles and limited resource. This paper presents a new version of rapidly exploring random trees (RRT, that is, liveness-based RRT (Li-RRT, to address autonomous underwater vehicles (AUVs motion problem. Different from typical RRT, we define an index of each node in the random searching tree, called “liveness” in this paper, to describe the potential effectiveness during the expanding process. We show that Li-RRT is provably probabilistic completeness as original RRT. In addition, the expected time of returning a valid path with Li-RRT is obviously reduced. To verify the efficiency of our algorithm, numerical experiments are carried out in this paper.

Overcoming urban GPS navigation challenges through the use of MEMS inertial sensors and proper verification of navigation system performance

Science.gov (United States)

Vinande, Eric T.

This research proposes several means to overcome challenges in the urban environment to ground vehicle global positioning system (GPS) receiver navigation performance through the integration of external sensor information. The effects of narrowband radio frequency interference and signal attenuation, both common in the urban environment, are examined with respect to receiver signal tracking processes. Low-cost microelectromechanical systems (MEMS) inertial sensors, suitable for the consumer market, are the focus of receiver augmentation as they provide an independent measure of motion and are independent of vehicle systems. A method for estimating the mounting angles of an inertial sensor cluster utilizing typical urban driving maneuvers is developed and is able to provide angular measurements within two degrees of truth. The integration of GPS and MEMS inertial sensors is developed utilizing a full state navigation filter. Appropriate statistical methods are developed to evaluate the urban environment navigation improvement due to the addition of MEMS inertial sensors. A receiver evaluation metric that combines accuracy, availability, and maximum error measurements is presented and evaluated over several drive tests. Following a description of proper drive test techniques, record and playback systems are evaluated as the optimal way of testing multiple receivers and/or integrated navigation systems in the urban environment as they simplify vehicle testing requirements.

Effect of Sleep/Wake Cycle on Autonomic Regulation

International Nuclear Information System (INIS)

Jabeen, S.

2015-01-01

Objective: To evaluate the association between irregular sleep/wake cycle in shift workers and autonomic regulation. Study Design: Cross-sectional, analytical study. Place and Duration of Study: Dow University Hospital, Karachi, from August to November 2013. Methodology: All health care providers working in rotating shifts making a total (n=104) were included. Instrument was an integrated questionnaire applied to assess autonomic regulation, taken from Kroz et al. on scoring criteria, ranging from 18 - 54, where higher rating signifies strong autonomic regulation, indicating a stable Autonomic Nervous System (ANS) and vice versa. Participants were interviewed and their response was recorded by the investigator. Influence of sleep misalignment was measured quantitatively to extract index of autonomic activity. Results: There was a reduced trend in autonomic strength amongst shift workers. The mean score obtained on the Autonomic Scale was 37.8 ± 5.9. Conclusion: Circadian misalignment has an injurious influence on ANS which might be valuable in controlling autonomic dysfunction that leads to fatal triggers in rotating shift workers. (author)

Physics Simulation Software for Autonomous Propellant Loading and Gas House Autonomous System Monitoring

Science.gov (United States)

Regalado Reyes, Bjorn Constant

2015-01-01

1. Kennedy Space Center (KSC) is developing a mobile launching system with autonomous propellant loading capabilities for liquid-fueled rockets. An autonomous system will be responsible for monitoring and controlling the storage, loading and transferring of cryogenic propellants. The Physics Simulation Software will reproduce the sensor data seen during the delivery of cryogenic fluids including valve positions, pressures, temperatures and flow rates. The simulator will provide insight into the functionality of the propellant systems and demonstrate the effects of potential faults. This will provide verification of the communications protocols and the autonomous system control. 2. The High Pressure Gas Facility (HPGF) stores and distributes hydrogen, nitrogen, helium and high pressure air. The hydrogen and nitrogen are stored in cryogenic liquid state. The cryogenic fluids pose several hazards to operators and the storage and transfer equipment. Constant monitoring of pressures, temperatures and flow rates are required in order to maintain the safety of personnel and equipment during the handling and storage of these commodities. The Gas House Autonomous System Monitoring software will be responsible for constantly observing and recording sensor data, identifying and predicting faults and relaying hazard and operational information to the operators.

Experimental research on safety impacts of the inside shoulder based on driving simulation.

Science.gov (United States)

Zhao, Xiaohua; Ding, Han; Wu, Yiping; Ma, Jianming; Zhong, Liande

2015-03-01

Statistical data shows that single-vehicle crashes account for half of all traffic crashes on expressways in China, and previous research has indicated that main contributing factors were related to whether and how the inside shoulder was paved. The inside shoulder provides space for drivers to make evasive maneuvers and accommodate driver errors. However, lower-cost construction solutions in China have resulted in the design of numerous urban expressway segments that lack inside shoulders. This paper has two objectives. The first is to reveal the safety impacts of inside shoulders on urban expressways by driving simulator experiment. The second objective is to propose optimal range and recommended value of inside shoulder width for designing inside shoulders of urban expressways. The empirical data, including subjects' eye movement data, heart rate (HR) and the lateral position of vehicles, were collected in a driving simulator. The data were analyzed to evaluate the safety impacts of the inside shoulder. The results have revealed that the inside shoulder has an impact on drivers' visual perception, behaviors, and psychology; in particular, it has a significant effect on vehicle operations. In addition, this paper recommends the desired and optimal inside shoulder widths for eight-lane, two-way divided expressways. Copyright © 2014 Elsevier Ltd. All rights reserved.

Do driving restriction policies effectively motivate commuters to use public transportation?

International Nuclear Information System (INIS)

Liu, Yunxia; Hong, Zaisheng; Liu, Yong

2016-01-01

Driving restriction policies have been implemented in some large Chinese cities to cope with severe urban smog pollution. We explored the roles of policy acceptance and other factors in commuters' transport mode decisions, based on the Theory of Planned Behavior. A questionnaire survey was conducted in Tianjin, China. A structural equation model was developed to test eight hypotheses, two of which were rejected. The results indicate that a driving restriction policy alone cannot effectively motivate commuters to use public transport if the policymakers fail to improve public transport, enhance commuters' awareness of consequences, increase commuters' perceived behavior control, and encourage car owners to change driving behavior. Comparisons between car owners and non-owners indicated that car owners view driving restriction policy and public transport more negatively. These negative views could be a barrier for the promotion of public transport among car owners. In addition, attitude toward public transport was found to have positive correlation with commuting time. - Highlights: • Attitude towards public transport has an impact on policy acceptance. • Driving habit indirectly affects policy acceptance and perceived behavior control. • Driving restriction policy and public transport are not popular among car owners. • Attitude towards public transport correlates positively with commuting time.

Urbanization and environmental change during the economic transition on the Mongolian Plateau: Hohhot and Ulaanbaatar.

Science.gov (United States)

Fan, Peilei; Chen, Jiquan; John, Ranjeet

2016-01-01

Driven by drastic socioeconomic changes in China and Mongolia, urbanization has become one of the most significant driving forces in the transformation of the Mongolian Plateau in the past 30 years. Using Hohhot and Ulaanbaatar as case studies, we developed a holistic approach to examine the socioeconomic and natural driving forces for urbanization and to investigate the impact on the urban environment. We used a multidisciplinary approach and relied on a variety of data sources to assess the changes of the landscape and environment of the two cities. We detected a rapid urbanization in Hohhot and Ulaanbaatar, both in terms of urban population growth and urban land expansion, from 1990 to 2010, with a much faster speed in 2000-2010. The local geo-physical conditions have constrained the spatial direction of expansion. Ulaanbaatar lagged behind Hohhot for about a decade when measured by indicators of urban population and urban land. Both cities have a degraded urban environment and a growing air pollution epidemic. While Hohhot had worse air pollution than Ulaanbaatar in the early 2000s, the gap between the two cities became smaller after 2010. The research presented here highlights the following as key determinants for urbanization and environmental change: (1) the co-evolution of urbanization, economic development, and environmental change; (2) the urbanization of transitional economies driven by the change of the economic structure, i.e., the development by both manufacturing and tertiary sectors and the change in the primary sector; and (3) the recent institutional changes and increased integration with the global economy. Copyright © 2015 Elsevier Inc. All rights reserved.

Mining in the Future: Autonomous Robotics for Safer Mines

CSIR Research Space (South Africa)

Shahdi, A

2012-10-01

Full Text Available ? Require less support infrastructure ? Advanced sensors ? CSIR 2012 Slide 4 Degree of Autonomy ? Teleoperation ? Semi-autonomous ? Autonomous ? CSIR 2012 Slide 5 Mobile Intelligent Autonomous Systems Group ? The Mobile Intelligent Autonomous...

Developing Efficient Urban Electrical Systems Using Microgrids

Energy Technology Data Exchange (ETDEWEB)

Gahagan, Michael

2010-09-15

Electric vehicles and battery storage will complicate utility operations and strain existing networks. One possible solution is the implementation of 'microgrids' autonomous electricity environments that operate within a larger electric utility grid and their 'controllers' Microgrids direct locally generated power to local demand, coordinate with centralized utility networks to meet additional demand, and pass excess supply to neighboring microgrids. This paper explains the evolution of microgrids. It details their design and operation. It also reviews their many benefits within urban settings, including minimizing customer costs while maximizing use of local generation from clean, renewable resources.

From cooperative to autonomous vehicles

NARCIS (Netherlands)

van der Sande, T.P.J.; Nijmeijer, H.; Fossen, T.I.; Pettersen, K.Y.; Nijmeijer, H.

2017-01-01

What defines an autonomous vehicle? In this chapter the authors will try to answer this question and formulate the limitations of driver assistance systems as well as for—conditionally—autonomous vehicles . First a short summary of the levels of automation as provided by the society of automotive

The Spatial Mechanism and Drive Mechanism Study of Chinese Urban Efficiency - Based on the Spatial Panel Data Model

Directory of Open Access Journals (Sweden)

Yuan Xiaoling

2016-08-01

Full Text Available In this article, the urban efficiency factors of 285 Chinese prefecture-level cities in the period from 2003 to 2012 are analyzed by using the spatial econometric model. The result shows that the development of urban efficiency between the cities positively correlates with space. And we conclude that the Industrial Structure, Openness and the Infrastructure can promote the development of such urban efficiency. The Urban Agglomeration Scale, Government Control, Fixed Asset Investment and other factors can inhibit the development of urban efficiency to a certain degree. Therefore, we come to a conclusion that, in the new urbanization construction process, the cities need to achieve cross-regional coordination from the perspective of urban agglomerations and metropolitan development. The efficiency of the city together with the scientific and rational flow of the factors should also be improved.

URBAN MORPHOLOGY FOR HOUSTON TO DRIVE MODELS-3/CMAQ AT NEIGHBORHOOD SCALES

Science.gov (United States)

Air quality simulation models applied at various horizontal scales require different degrees of treatment in the specifications of the underlying surfaces. As we model neighborhood scales ( 1 km horizontal grid spacing), the representation of urban morphological structures (e....

Extended driving impairs nocturnal driving performances.

Directory of Open Access Journals (Sweden)

Patricia Sagaspe

Full Text Available Though fatigue and sleepiness at the wheel are well-known risk factors for traffic accidents, many drivers combine extended driving and sleep deprivation. Fatigue-related accidents occur mainly at night but there is no experimental data available to determine if the duration of prior driving affects driving performance at night. Participants drove in 3 nocturnal driving sessions (3-5 am, 1-5 am and 9 pm-5 am on open highway. Fourteen young healthy men (mean age [+/-SD] = 23.4 [+/-1.7] years participated Inappropriate line crossings (ILC in the last hour of driving of each session, sleep variables, self-perceived fatigue and sleepiness were measured. Compared to the short (3-5 am driving session, the incidence rate ratio of inappropriate line crossings increased by 2.6 (95% CI, 1.1 to 6.0; P<.05 for the intermediate (1-5 am driving session and by 4.0 (CI, 1.7 to 9.4; P<.001 for the long (9 pm-5 am driving session. Compared to the reference session (9-10 pm, the incidence rate ratio of inappropriate line crossings were 6.0 (95% CI, 2.3 to 15.5; P<.001, 15.4 (CI, 4.6 to 51.5; P<.001 and 24.3 (CI, 7.4 to 79.5; P<.001, respectively, for the three different durations of driving. Self-rated fatigue and sleepiness scores were both positively correlated to driving impairment in the intermediate and long duration sessions (P<.05 and increased significantly during the nocturnal driving sessions compared to the reference session (P<.01. At night, extended driving impairs driving performances and therefore should be limited.

Autonomous Learner Model Resource Book

Science.gov (United States)

Betts, George T.; Carey, Robin J.; Kapushion, Blanche M.

2016-01-01

"Autonomous Learner Model Resource Book" includes activities and strategies to support the development of autonomous learners. More than 40 activities are included, all geared to the emotional, social, cognitive, and physical development of students. Teachers may use these activities and strategies with the entire class, small groups, or…

Urbanization Drives a Reduction in Functional Diversity in a Guild of Nectar-feeding Birds

Directory of Open Access Journals (Sweden)

Anton Pauw

2012-06-01

Full Text Available Urbanization is a widespread and rapidly growing threat to biodiversity, therefore we need a predictive understanding of its effects on species and ecosystem processes. In this paper we study the impact of urbanization on a guild of nectar-feeding birds in a biodiversity hotspot at the Cape of Africa. The guild of four bird species provides important ecosystem services by pollinating 320 plant species in the Cape Floral Region. Functional diversity within the guild is related to differences in bill length. The long-billed Malachite Sunbird (Nectarinia famosa plays an irreplaceable role as the exclusive pollinator of plant species with long nectar tubes. We analyzed the composition of the guild in suburban gardens of Cape Town along a gradient of increasing distance from the nearest natural habitat. Urbanization reduces the functional diversity of the nectarivore guild. Malachite Sunbirds did not penetrate more than 1 km into the city, whereas only the short-billed Southern Double-collared Sunbirds (Cinnyris chalybea occurred throughout the urbanization gradient. The lack of data precludes conclusions regarding the detailed responses of Orange-breasted Sunbirds (Anthobaphes violacea and Sugarbirds (Promerops cafer, however their absence across the entire gradient is suggestive of high sensitivity. The functional diversity of this guild of pollinators can potentially be restored, but the pros and cons of this conservation action need to be considered.

Meaningful Human Control over Autonomous Systems: A Philosophical Account

Directory of Open Access Journals (Sweden)

Filippo Santoni de Sio

2018-02-01

-military autonomous systems, for instance, self-driving cars.

Coordinated Mapping of Sea Ice Deformation Features with Autonomous Vehicles

Science.gov (United States)

Maksym, T.; Williams, G. D.; Singh, H.; Weissling, B.; Anderson, J.; Maki, T.; Ackley, S. F.

2016-12-01

Decreases in summer sea ice extent in the Beaufort and Chukchi Seas has lead to a transition from a largely perennial ice cover, to a seasonal ice cover. This drives shifts in sea ice production, dynamics, ice types, and thickness distribution. To examine how the processes driving ice advance might also impact the morphology of the ice cover, a coordinated ice mapping effort was undertaken during a field campaign in the Beaufort Sea in October, 2015. Here, we present observations of sea ice draft topography from six missions of an Autonomous Underwater Vehicle run under different ice types and deformation features observed during autumn freeze-up. Ice surface features were also mapped during coordinated drone photogrammetric missions over each site. We present preliminary results of a comparison between sea ice surface topography and ice underside morphology for a range of sample ice types, including hummocked multiyear ice, rubble fields, young ice ridges and rafts, and consolidated pancake ice. These data are compared to prior observations of ice morphological features from deformed Antarctic sea ice. Such data will be useful for improving parameterizations of sea ice redistribution during deformation, and for better constraining estimates of airborne or satellite sea ice thickness.

Cybersecurity for aerospace autonomous systems

Science.gov (United States)

Straub, Jeremy

2015-05-01

High profile breaches have occurred across numerous information systems. One area where attacks are particularly problematic is autonomous control systems. This paper considers the aerospace information system, focusing on elements that interact with autonomous control systems (e.g., onboard UAVs). It discusses the trust placed in the autonomous systems and supporting systems (e.g., navigational aids) and how this trust can be validated. Approaches to remotely detect the UAV compromise, without relying on the onboard software (on a potentially compromised system) as part of the process are discussed. How different levels of autonomy (task-based, goal-based, mission-based) impact this remote characterization is considered.

Citymobil, advanced transport for the urban environment : an update

NARCIS (Netherlands)

Dijke, J.P. van; Schijndel-de Nooij, M. van

2012-01-01

CityMobil was an integrated project in the Sixth Framework Program of the European Union. The objective of the project was to achieve more effective organization of urban transport for more rational use of motorized traffic with less congestion and pollution, safer driving, a higher quality of

Predictors of driving safety in early Alzheimer disease.

Science.gov (United States)

Dawson, J D; Anderson, S W; Uc, E Y; Dastrup, E; Rizzo, M

2009-02-10

To measure the association of cognition, visual perception, and motor function with driving safety in Alzheimer disease (AD). Forty drivers with probable early AD (mean Mini-Mental State Examination score 26.5) and 115 elderly drivers without neurologic disease underwent a battery of cognitive, visual, and motor tests, and drove a standardized 35-mile route in urban and rural settings in an instrumented vehicle. A composite cognitive score (COGSTAT) was calculated for each subject based on eight neuropsychological tests. Driving safety errors were noted and classified by a driving expert based on video review. Drivers with AD committed an average of 42.0 safety errors/drive (SD = 12.8), compared to an average of 33.2 (SD = 12.2) for drivers without AD (p < 0.0001); the most common errors were lane violations. Increased age was predictive of errors, with a mean of 2.3 more errors per drive observed for each 5-year age increment. After adjustment for age and gender, COGSTAT was a significant predictor of safety errors in subjects with AD, with a 4.1 increase in safety errors observed for a 1 SD decrease in cognitive function. Significant increases in safety errors were also found in subjects with AD with poorer scores on Benton Visual Retention Test, Complex Figure Test-Copy, Trail Making Subtest-A, and the Functional Reach Test. Drivers with Alzheimer disease (AD) exhibit a range of performance on tests of cognition, vision, and motor skills. Since these tests provide additional predictive value of driving performance beyond diagnosis alone, clinicians may use these tests to help predict whether a patient with AD can safely operate a motor vehicle.

The Human Element and Autonomous Ships

Directory of Open Access Journals (Sweden)

Sauli Ahvenjärvi

2016-09-01

Full Text Available The autonomous ship technology has become a “hot” topic in the discussion about more efficient, environmentally friendly and safer sea transportation solutions. The time is becoming mature for the introduction of commercially sensible solutions for unmanned and fully autonomous cargo and passenger ships. Safety will be the most interesting and important aspect in this development. The utilization of the autonomous ship technology will have many effects on the safety, both positive and negative. It has been announced that the goal is to make the safety of an unmanned ship better that the safety of a manned ship. However, it must be understood that the human element will still be present when fully unmanned ships are being used. The shore-based control of a ship contains new safety aspects and an interesting question will be the interaction of manned and unmanned ships in the same traffic area. The autonomous ship technology should therefore be taken into account on the training of seafarers. Also it should not be forgotten that every single control algorithm and rule of the internal decision making logic of the autonomously navigating ship has been designed and coded by a human software engineer. Thus the human element is present also in this point of the lifetime navigation system of the autonomous ship.

A new framework for modeling urban land expansion in peri-urban area by combining multi-source datasets and data assimilation

Science.gov (United States)

Zhang, Z.; Xiao, R.; Li, X.

2015-12-01

Peri-urban area is a new type region under the impacts of both rural Industrialization and the radiation of metropolitan during rapid urbanization. Due to its complex natural and social characteristics and unique development patterns, many problems such as environmental pollution and land use waste emerged, which became an urgent issue to be addressed. Study area in this paper covers three typical peri-urban districts (Pudong, Fengxian and Jinshan), which around the Shanghai inner city. By coupling cellular automata and multi-agent system model as the basic tools, this research focus on modelling the urban land expansion and driving mechanism in peri-urban area. The big data is aslo combined with the Bayesian maximum entropy method (BME) for spatiotemporal prediction of multi-source data, which expand the dataset of urban expansion models. Data assimilation method is used to optimize the parameters of the coupling model and minimize the uncertainty of observations, improving the precision of future simulation in peri-urban area. By setting quantitative parameters, the coupling model can effectively improve the simulation of the process of urban land expansion under different policies and management schemes, in order to provide scientificimplications for new urbanization strategy. In this research, we precise the urban land expansion simulation and prediction for peri-urban area, expand the scopes and selections of data acquisition measurements and methods, develop the new applications of the data assimilation method in geographical science, provide a new idea for understanding the inherent rules of urban land expansion, and give theoretical and practical support for the peri-urban area in urban planning and decision making.

An Assessment of the Impact of Urbanization on Soil Erosion in Inner Mongolia.

Science.gov (United States)

Wang, Li-Yan; Xiao, Yi; Rao, En-Ming; Jiang, Ling; Xiao, Yang; Ouyang, Zhi-Yun

2018-03-19

Inner Mongolia, an autonomous region of the People's Republic of China, has experienced severe soil erosion following a period of rapid economic development and urbanization. To investigate how urbanization has influenced the extent of soil erosion in Inner Mongolia, we used urbanization and soil erosion data from 2000 through 2010 to determine the relationship between urbanization and soil erosion patterns. Two empirical equations-the Revised Universal Soil Loss Equation (RUSLE) and the Revised Wind Erosion Equation (RWEQ)-were used to estimate the intensity of soil erosion, and we performed backward linear regression to model how it changed with greater urbanization. There was an apparent increase in the rate of urbanization and a decrease in the area affected by soil erosion in 2010 compared to the corresponding values for 2000. The urban population stood at 11.32 million in 2010, which represented a 16.47% increase over that in 2000. The area affected by soil erosion in 2000 totaled 704,817 km², yet it had decreased to 674,135 km² by 2010. However, a path of modest urban development (rural-urban mitigation) and reasonable industrial structuring (the development of GDP-2) may partially reduce urbanization's ecological pressure and thus indirectly reduce the threat of soil erosion to human security. Therefore, to better control soil erosion in Inner Mongolia during the process of urbanization, the current model of economic development should be modified to improve the eco-efficiency of urbanization, while also promoting new modes of urbanization that are environmentally sustainable, cost-effective, and conserve limited resources.

Morphologic Changes in Autonomic Nerves in Diabetic Autonomic Neuropathy

Directory of Open Access Journals (Sweden)

Heung Yong Jin

2015-12-01

Full Text Available Diabetic neuropathy is one of the major complications of diabetes, and it increases morbidity and mortality in patients with both type 1 diabetes mellitus (T1DM and type 2 diabetes mellitus (T2DM. Because the autonomic nervous system, for example, parasympathetic axons, has a diffuse and wide distribution, we do not know the morphological changes that occur in autonomic neural control and their exact mechanisms in diabetic patients with diabetic autonomic neuropathy (DAN. Although the prevalence of sympathetic and parasympathetic neuropathy is similar in T1DM versus T2DM patients, sympathetic nerve function correlates with parasympathetic neuropathy only in T1DM patients. The explanation for these discrepancies might be that parasympathetic nerve function was more severely affected among T2DM patients. As parasympathetic nerve damage seems to be more advanced than sympathetic nerve damage, it might be that parasympathetic neuropathy precedes sympathetic neuropathy in T2DM, which was Ewing's concept. This could be explained by the intrinsic morphologic difference. Therefore, the morphological changes in the sympathetic and parasympathetic nerves of involved organs in T1DM and T2DM patients who have DAN should be evaluated. In this review, evaluation methods for morphological changes in the epidermal nerves of skin, and the intrinsic nerves of the stomach will be discussed.

Bayesian methods to estimate urban growth potential

Science.gov (United States)

Smith, Jordan W.; Smart, Lindsey S.; Dorning, Monica; Dupéy, Lauren Nicole; Méley, Andréanne; Meentemeyer, Ross K.

2017-01-01

Urban growth often influences the production of ecosystem services. The impacts of urbanization on landscapes can subsequently affect landowners’ perceptions, values and decisions regarding their land. Within land-use and land-change research, very few models of dynamic landscape-scale processes like urbanization incorporate empirically-grounded landowner decision-making processes. Very little attention has focused on the heterogeneous decision-making processes that aggregate to influence broader-scale patterns of urbanization. We examine the land-use tradeoffs faced by individual landowners in one of the United States’ most rapidly urbanizing regions − the urban area surrounding Charlotte, North Carolina. We focus on the land-use decisions of non-industrial private forest owners located across the region’s development gradient. A discrete choice experiment is used to determine the critical factors influencing individual forest owners’ intent to sell their undeveloped properties across a series of experimentally varied scenarios of urban growth. Data are analyzed using a hierarchical Bayesian approach. The estimates derived from the survey data are used to modify a spatially-explicit trend-based urban development potential model, derived from remotely-sensed imagery and observed changes in the region’s socioeconomic and infrastructural characteristics between 2000 and 2011. This modeling approach combines the theoretical underpinnings of behavioral economics with spatiotemporal data describing a region’s historical development patterns. By integrating empirical social preference data into spatially-explicit urban growth models, we begin to more realistically capture processes as well as patterns that drive the location, magnitude and rates of urban growth.

An electric-drive vehicle strategy for Sweden

Energy Technology Data Exchange (ETDEWEB)

Sperling, D.; Lipman, T. [California Univ., Davis, CA (United States). Inst. of Transportation Studies; Lundberg, M. [Swedish Transport and Communications Research Board, Stockholm (Sweden)

2000-07-01

The strategy that Sweden has taken regarding the use of electric-powered vehicles (EVs) to mitigate the environmental impacts caused by the transportation sector was discussed. Sweden's unique attributes include inexpensive and clean electricity, a strong environmental ethic and a strong automotive sector. All versions of electric-drive technology are considered to be environmentally superior to internal combustion engine vehicles. While the cost of batteries is dropping, they will remain highly priced. However, manufacturers are making larger investments into hybrid EVs and fuel cell EVs. Electric drive buses are also gaining in popularity as a means by which to reduce exhaust gases in urban areas. Sweden's industrial policy is aimed at manufacturing electrically driven heavy duty vehicles such as buses and trucks. The environmental policy is aimed at deploying small EVs for on and off-road transportation use, as well as heavy duty EVs targeted by the industrial policy. refs.

Connected and autonomous vehicles 2040 vision.

Science.gov (United States)

2014-07-01

The Pennsylvania Department of Transportation (PennDOT) commissioned a one-year project, Connected and Autonomous : Vehicles 2040 Vision, with researchers at Carnegie Mellon University (CMU) to assess the implications of connected and : autonomous ve...

FY 2000 report on the results of the regional consortium R and D project - Regional consortium energy field. Third year report. Development of precision farming system combined with the autonomous vehicle for large scale agriculture; 2000 nendo chiiki consortium kenkyu kaihatsu jigyo - chiiki consortium energy bun'ya. Daikibo nogyo muke seimitsu jiritsu soko sagyo shien system no kenkyu kaihatsu (dai 3 nendo) seika hokokusho

Energy Technology Data Exchange (ETDEWEB)

NONE

2001-03-01

A farming supporting system that enables autonomous driving was developed from a viewpoint that the development of super manpower saving technology including automation helps sustainable development of the Japanese agriculture. The following were conducted: development of autonomous driving vehicle, development of automated operation unit, field space mapping for precision agriculture and development of groups of PF (precision farming) work machine (weeder, controller, fertilizer applicator, harvesting machine), development of groups of field work sensor (simple soil analytical system, crop growing sensor, glass yield sensor), development of field information managing database, development of work optimized application software. The operation test on the integration system was made at the model production field. The operation experiment using fertilizer applicator, controller and autonomous driving tractor was carried out at a beet field of 2ha in the farming zone in Tokachi, Hokkaido, and the results were obtained as expected. Further, as to the precision agriculture introduced with developmental equipment, etc., 20% of the energy consumption is expected to be reduced. (NEDO)

FY 2000 report on the results of the regional consortium R and D project - Regional consortium energy field. Third year report. Development of precision farming system combined with the autonomous vehicle for large scale agriculture; 2000 nendo chiiki consortium kenkyu kaihatsu jigyo - chiiki consortium energy bun'ya. Daikibo nogyo muke seimitsu jiritsu soko sagyo shien system no kenkyu kaihatsu (dai 3 nendo) seika hokokusho

Energy Technology Data Exchange (ETDEWEB)

NONE

2001-03-01

A farming supporting system that enables autonomous driving was developed from a viewpoint that the development of super manpower saving technology including automation helps sustainable development of the Japanese agriculture. The following were conducted: development of autonomous driving vehicle, development of automated operation unit, field space mapping for precision agriculture and development of groups of PF (precision farming) work machine (weeder, controller, fertilizer applicator, harvesting machine), development of groups of field work sensor (simple soil analytical system, crop growing sensor, glass yield sensor), development of field information managing database, development of work optimized application software. The operation test on the integration system was made at the model production field. The operation experiment using fertilizer applicator, controller and autonomous driving tractor was carried out at a beet field of 2ha in the farming zone in Tokachi, Hokkaido, and the results were obtained as expected. Further, as to the precision agriculture introduced with developmental equipment, etc., 20% of the energy consumption is expected to be reduced. (NEDO)

Improving E-Bike Safety on Urban Highways in China

Directory of Open Access Journals (Sweden)

Linjun Lu

2015-01-01

Full Text Available This paper aims to examine characteristics of e-bike fatal crashes on urban highways in China. Crash data were retrieved from the three-year crash reports (2010–2012 of Taixing City. Descriptive analysis was conducted to examine characteristics of e-bike riders, drivers, and crashes. The important findings include the following: (1 most fatal crashes were related to e-bike riders’ aberrant driving behaviors, including driving in motorized lanes, red-light running, driving against the direction of traffic, inattentive driving, and drunk driving; (2 e-bike riders with lower educational background tended to perform illegal or inattentive driving behaviors in fatal crashes; (3 most drivers were not found to commit any faults and very few drivers were found to commit drunk driving offences; (4 most nighttime fatal crashes were related to absence of street lightings; (5 heavy good vehicles (HGVs and small passenger cars were the two vehicle types that were mostly involved in the e-bike fatal crashes. This study provides useful information that can help traffic engineers better understand e-bike safety in China and develop safety countermeasures.

ROV90 - A prototype autonomous inspection vehicle

Energy Technology Data Exchange (ETDEWEB)

Roedseth, Oe.J.; Hallset, J.O.

1991-04-01

Simple autonomous inspection vehicles are suitable for operations where the cost, danger to humans, or area of operation prohibits the use of conventional underwater technology. Autonomous vehicles are, however, in their infancy and few such vehicles are available. There are still some problems to be overcome before this technology becomes useful in commercial applications. We have built ROV90 to investigate these problems. It is a test bed for experimenting with the different parts of an autonomous underwater vehicle. ROV90 will be able to autonomously follow prominent features in the real world, man made or natural. Examples are pipelines or walls in tunnels. ROV90 is tethered, but we are planning to use experience and results from ROV90 to develop av ''real'' autonomous underwater vehicle (AUV) called PISCIS. 11 refs., 8 figs.

Feedback amplification loop drives malignant growth in epithelial tissues.

Science.gov (United States)

Muzzopappa, Mariana; Murcia, Lada; Milán, Marco

2017-08-29

Interactions between cells bearing oncogenic mutations and the surrounding microenvironment, and cooperation between clonally distinct cell populations, can contribute to the growth and malignancy of epithelial tumors. The genetic techniques available in Drosophila have contributed to identify important roles of the TNF-α ligand Eiger and mitogenic molecules in mediating these interactions during the early steps of tumor formation. Here we unravel the existence of a tumor-intrinsic-and microenvironment-independent-self-reinforcement mechanism that drives tumor initiation and growth in an Eiger-independent manner. This mechanism relies on cell interactions between two functionally distinct cell populations, and we present evidence that these cell populations are not necessarily genetically different. Tumor-specific and cell-autonomous activation of the tumorigenic JNK stress-activated pathway drives the expression of secreted signaling molecules and growth factors to delaminating cells, which nonautonomously promote proliferative growth of the partially transformed epithelial tissue. We present evidence that cross-feeding interactions between delaminating and nondelaminating cells increase each other's sizes and that these interactions can explain the unlimited growth potential of these tumors. Our results will open avenues toward our molecular understanding of those social cell interactions with a relevant function in tumor initiation in humans.

Driving forces behind the Chinese public's demand for improved environmental safety.

Science.gov (United States)

Wen, Ting; Wang, Jigan; Ma, Zongwei; Bi, Jun

2017-12-15

Over the past decades, the public demand for improved environmental safety keeps increasing in China. This study aims to assess the driving forces behind the increasing public demand for improved environmental safety using a provincial and multi-year (1995, 2000, 2005, 2010, and 2014) panel data and the Stochastic Impacts by Regression on Population, Affluence, and Technology (STIRPAT) model. The potential driving forces investigated included population size, income levels, degrees of urbanization, and educational levels. Results show that population size and educational level are positively (Pdemand for improved environmental safety. No significant impact on demand was found due to the degree of urbanization. For the impact due to income level, an inverted U-shaped curve effect with the turning point of ~140,000 CNY GDP per capita is indicated. Since per capita GDP of 2015 in China was approximately 50,000 CNY and far from the turning point, the public demand for improved environmental safety will continue rising in the near future. To meet the increasing public demand for improved environmental safety, proactive and risk prevention based environmental management systems coupled with effective environmental risk communication should be established. Copyright © 2017 Elsevier B.V. All rights reserved.

Autonomous Cryogenic Load Operations: KSC Autonomous Test Engineer

Science.gov (United States)

Shrading, Nicholas J.

2012-01-01

The KSC Autonomous Test Engineer (KATE) program has a long history at KSC. Now a part of the Autonomous Cryogenic Load Operations (ACLO) mission, this software system has been sporadically developed over the past 20+ years. Originally designed to provide health and status monitoring for a simple water-based fluid system, it was proven to be a capable autonomous test engineer for determining sources of failure in. the system, As part.of a new goal to provide this same anomaly-detection capability for a complicated cryogenic fluid system, software engineers, physicists, interns and KATE experts are working to upgrade the software capabilities and graphical user interface. Much progress was made during this effort to improve KATE. A display ofthe entire cryogenic system's graph, with nodes for components and edges for their connections, was added to the KATE software. A searching functionality was added to the new graph display, so that users could easily center their screen on specific components. The GUI was also modified so that it displayed information relevant to the new project goals. In addition, work began on adding new pneumatic and electronic subsystems into the KATE knowledgebase, so that it could provide health and status monitoring for those systems. Finally, many fixes for bugs, memory leaks, and memory errors were implemented and the system was moved into a state in which it could be presented to stakeholders. Overall, the KATE system was improved and necessary additional features were added so that a presentation of the program and its functionality in the next few months would be a success.

Transport attitudes, residential preferences, and urban form effects on cycling and car use

DEFF Research Database (Denmark)

Transport attitudes, residential preferences, and urban form effects on cycling and car use. Promotion of walking and cycling is part of policies at multiple levels and reasoned in public health as well as environmental sustainability outcomes. Urban form and neighborhood characteristics are thou....... Reduced car use seems to require a high degree of convenience of not driving – by means of very short, walkable distances to services...

Autonomic control of heart rate during orthostasis and the importance of orthostatic-tachycardia in the snake Python molurus.

Science.gov (United States)

Armelin, Vinicius Araújo; da Silva Braga, Victor Hugo; Abe, Augusto Shinya; Rantin, Francisco Tadeu; Florindo, Luiz Henrique

2014-10-01

Orthostasis dramatically influences the hemodynamics of terrestrial vertebrates, especially large and elongated animals such as snakes. When these animals assume a vertical orientation, gravity tends to reduce venous return, cardiac filling, cardiac output and blood pressure to the anterior regions of the body. The hypotension triggers physiological responses, which generally include vasomotor adjustments and tachycardia to normalize blood pressure. While some studies have focused on understanding the regulation of these vasomotor adjustments in ectothermic vertebrates, little is known about regulation and the importance of heart rate in these animals during orthostasis. We acquired heart rate and carotid pulse pressure (P PC) in pythons in their horizontal position, and during 30 and 60° inclinations while the animals were either untreated (control) or upon muscarinic cholinoceptor blockade and a double autonomic blockade. Double autonomic blockade completely eradicated the orthostatic-tachycardia, and without this adjustment, the P PC reduction caused by the tilts became higher than that which was observed in untreated animals. On the other hand, post-inclinatory vasomotor adjustments appeared to be of negligible importance in counterbalancing the hemodynamic effects of gravity. Finally, calculations of cardiac autonomic tones at each position revealed that the orthostatic-tachycardia is almost completely elicited by a withdrawal of vagal drive.

An Assessment of the Impact of Urbanization on Soil Erosion in Inner Mongolia

Directory of Open Access Journals (Sweden)

Li-Yan Wang

2018-03-01

Full Text Available Inner Mongolia, an autonomous region of the People’s Republic of China, has experienced severe soil erosion following a period of rapid economic development and urbanization. To investigate how urbanization has influenced the extent of soil erosion in Inner Mongolia, we used urbanization and soil erosion data from 2000 through 2010 to determine the relationship between urbanization and soil erosion patterns. Two empirical equations—the Revised Universal Soil Loss Equation (RUSLE and the Revised Wind Erosion Equation (RWEQ—were used to estimate the intensity of soil erosion, and we performed backward linear regression to model how it changed with greater urbanization. There was an apparent increase in the rate of urbanization and a decrease in the area affected by soil erosion in 2010 compared to the corresponding values for 2000. The urban population stood at 11.32 million in 2010, which represented a 16.47% increase over that in 2000. The area affected by soil erosion in 2000 totaled 704,817 km2, yet it had decreased to 674,135 km2 by 2010. However, a path of modest urban development (rural–urban mitigation and reasonable industrial structuring (the development of GDP-2 may partially reduce urbanization’s ecological pressure and thus indirectly reduce the threat of soil erosion to human security. Therefore, to better control soil erosion in Inner Mongolia during the process of urbanization, the current model of economic development should be modified to improve the eco-efficiency of urbanization, while also promoting new modes of urbanization that are environmentally sustainable, cost-effective, and conserve limited resources.

System dynamics modeling of the impact of Internet-of-Things on intelligent urban transportation

OpenAIRE

Marshall, Phil

2015-01-01

Urban transportation systems are at the cusp of a major transformation that capitalizes on the proliferation of the Internet-of-Things (IoT), autonomous and cooperative vehicular and intelligent roadway technologies, advanced traffic management systems, and big data analytics. The benefits of these smart-transportation technologies were investigated using System Dynamics modeling, with particular emphasis towards vehicle sharing, intelligent highway systems, and smart-parking solutions. The m...

An urban observatory for quantifying phosphorus and suspended solid loads in combined natural and stormwater conveyances.

Science.gov (United States)

Melcher, Anthony A; Horsburgh, Jeffery S

2017-06-01

Water quality in urban streams and stormwater systems is highly dynamic, both spatially and temporally, and can change drastically during storm events. Infrequent grab samples commonly collected for estimating pollutant loadings are insufficient to characterize water quality in many urban water systems. In situ water quality measurements are being used as surrogates for continuous pollutant load estimates; however, relatively few studies have tested the validity of surrogate indicators in urban stormwater conveyances. In this paper, we describe an observatory aimed at demonstrating the infrastructure required for surrogate monitoring in urban water systems and for capturing the dynamic behavior of stormwater-driven pollutant loads. We describe the instrumentation of multiple, autonomous water quality and quantity monitoring sites within an urban observatory. We also describe smart and adaptive sampling procedures implemented to improve data collection for developing surrogate relationships and for capturing the temporal and spatial variability of pollutant loading events in urban watersheds. Results show that the observatory is able to capture short-duration storm events within multiple catchments and, through inter-site communication, sampling efforts can be synchronized across multiple monitoring sites.

The Fuel Economy of Hybrid Buses: The Role of Ancillaries in Real Urban Driving

Directory of Open Access Journals (Sweden)

Francesco Bottiglione

2014-07-01

Full Text Available In the present context of the global economic crisis and environmental emergency, transport science is asked to find innovative solutions to turn traditional vehicles into fuel-saving and eco-friendly devices. In the last few years, hybrid vehicles have been shown to have potential benefits in this sense. In this paper, the fuel economy of series hybrid-electric and hybrid-mechanical buses is simulated in two real driving situations: cold and hot weather driving in the city of Taranto, in Southern Italy. The numerical analysis is carried out by an inverse dynamic approach, where the bus speed is given as a velocity pattern measured in the field tests performed on one of the city bus routes. The city of Taranto drive schedule is simulated in a typical tempered climate condition and with a hot temperature, when the air conditioning system must be switched on for passenger comfort. The fuel consumptions of hybrid-electric and hybrid-mechanical buses are compared to each other and with a traditional bus powered by a diesel engine. It is shown that the series hybrid-electric vehicle outperforms both the traditional and the mechanical hybrid vehicles in the cold weather driving simulation, reducing the fuel consumption by about 35% with respect to the traditional diesel bus. However, it is also shown that the performance of the hybrid-electric bus gets dramatically worse when the air-cooling system is continuously turned on. In this situation, the fuel consumption of the three different technologies for city buses under investigation is comparable.

Autonomous driving in NMR.

Science.gov (United States)

Perez, Manuel

2017-01-01

The automatic analysis of NMR data has been a much-desired endeavour for the last six decades, as it is the case with any other analytical technique. This need for automation has only grown as advances in hardware; pulse sequences and automation have opened new research areas to NMR and increased the throughput of data. Full automatic analysis is a worthy, albeit hard, challenge, but in a world of artificial intelligence, instant communication and big data, it seems that this particular fight is happening with only one technique at a time (let this be NMR, MS, IR, UV or any other), when the reality of most laboratories is that there are several types of analytical instrumentation present. Data aggregation, verification and elucidation by using complementary techniques (e.g. MS and NMR) is a desirable outcome to pursue, although a time-consuming one if performed manually; hence, the use of automation to perform the heavy lifting for users is required to make the approach attractive for scientists. Many of the decisions and workflows that could be implemented under automation will depend on the two-way communication with databases that understand analytical data, because it is desirable not only to query these databases but also to grow them in as much of an automatic manner as possible. How these databases are designed, set up and the data inside classified will determine what workflows can be implemented. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 John Wiley & Sons, Ltd.

Context-Aided Sensor Fusion for Enhanced Urban Navigation

Science.gov (United States)

Martí, Enrique David; Martín, David; García, Jesús; de la Escalera, Arturo; Molina, José Manuel; Armingol, José María

2012-01-01

The deployment of Intelligent Vehicles in urban environments requires reliable estimation of positioning for urban navigation. The inherent complexity of this kind of environments fosters the development of novel systems which should provide reliable and precise solutions to the vehicle. This article details an advanced GNSS/IMU fusion system based on a context-aided Unscented Kalman filter for navigation in urban conditions. The constrained non-linear filter is here conditioned by a contextual knowledge module which reasons about sensor quality and driving context in order to adapt it to the situation, while at the same time it carries out a continuous estimation and correction of INS drift errors. An exhaustive analysis has been carried out with available data in order to characterize the behavior of available sensors and take it into account in the developed solution. The performance is then analyzed with an extensive dataset containing representative situations. The proposed solution suits the use of fusion algorithms for deploying Intelligent Transport Systems in urban environments. PMID:23223080

Nature as a nuisance? Ecosystem services and disservices to urban lifestyle

DEFF Research Database (Denmark)

Lyytimäki, Jari; Petersen, Lars Kjerulf; Normander, Bo

2008-01-01

- such as safety issues in dark parks or pollen causing health problems - have gained only sporadic attention in environmental studies focused on urban ecosystems. We review and discuss different urban ecosystem disservices from a Northern European perspective. We conclude by addressing the key limitations......  The lifestyle of people living in urban areas has profound direct and indirect impacts on biodiversity. However, the role of urban lifestyle as a driving force of biodiversity change is not very well understood. This is partly because there is a gap between a social science approach focusing...... on lifestyle and a natural science approach focusing on biodiversity. We propose that the concept of ecological services and disservices is useful in connecting these approaches. Ecosystem services produced by urban green areas are the focus of a wide range of environmental studies, but disservices...

Sohbrit: Autonomous COTS System for Satellite Characterization

Science.gov (United States)

Blazier, N.; Tarin, S.; Wells, M.; Brown, N.; Nandy, P.; Woodbury, D.

As technology continues to improve, driving down the cost of commercial astronomical products while increasing their capabilities, manpower to run observations has become the limiting factor in acquiring continuous and repeatable space situational awareness data. Sandia National Laboratories set out to automate a testbed comprised entirely of commercial off-the-shelf (COTS) hardware for space object characterization (SOC) focusing on satellites in geosynchronous orbit. Using an entirely autonomous system allows collection parameters such as target illumination and nightly overlap to be accounted for habitually; this enables repeatable development of target light curves to establish patterns of life in a variety of spectral bands. The system, known as Sohbrit, is responsible for autonomously creating an optimized schedule, checking the weather, opening the observatory dome, aligning and focusing the telescope, executing the schedule by slewing to each target and imaging it in a number of spectral bands (e.g., B, V, R, I, wide-open) via a filter wheel, closing the dome at the end of observations, processing the data, and storing/disseminating the data for exploitation via the web. Sohbrit must handle various situations such as weather outages and focus changes due to temperature shifts and optical seeing variations without human interaction. Sohbrit can collect large volumes of data nightly due to its high level of automation. To store and disseminate these large quantities of data, we utilize a cloud-based big data architecture called Firebird, which exposes the data out to the community for use by developers and analysts. Sohbrit is the first COTS system we are aware of to automate the full process of multispectral geosynchronous characterization from scheduling all the way to processed, disseminated data. In this paper we will discuss design decisions, issues encountered and overcome during implementation, and show results produced by Sohbrit.

Drinking and Driving in Puerto Rico.

Science.gov (United States)

Caetano, Raul; Vaeth, Patrice A C; Romano, Eduardo; Canino, Glorisa

2018-01-09

Epidemiological information is lacking for driving under the influence of alcohol (DUI) in Puerto Rico. To examine the prevalence and correlates of DUI in Puerto Rico. Data are from a household sample of 1510 individuals, aged 18-64 years in San Juan, Puerto Rico. The response rate was 83%. The rate of 12 month self-reported DUI was 20% among men and 8% among women (p Puerto Rico was high, but the proportion of people arrested for DUI in a span of 12 months or during their lifetime was low. Stricter enforcement of DUI laws may be necessary to minimize DUI in urban Puerto Rico.

Autonomous power networks based power system

International Nuclear Information System (INIS)

Jokic, A.; Van den Bosch, P.P.J.

2006-01-01

This paper presented the concept of autonomous networks to cope with this increased complexity in power systems while enhancing market-based operation. The operation of future power systems will be more challenging and demanding than present systems because of increased uncertainties, less inertia in the system, replacement of centralized coordinating activities by decentralized parties and the reliance on dynamic markets for both power balancing and system reliability. An autonomous network includes the aggregation of networked producers and consumers in a relatively small area with respect to the overall system. The operation of an autonomous network is coordinated and controlled with one central unit acting as an interface between internal producers/consumers and the rest of the power system. In this study, the power balance problem and system reliability through provision of ancillary services was formulated as an optimization problem for the overall autonomous networks based power system. This paper described the simulation of an optimal autonomous network dispatching in day ahead markets, based on predicted spot prices for real power, and two ancillary services. It was concluded that large changes occur in a power systems structure and operation, most of them adding to the uncertainty and complexity of the system. The introduced concept of an autonomous power network-based power system was shown to be a realistic and consistent approach to formulate and operate a market-based dispatch of both power and ancillary services. 9 refs., 4 figs

Advancing Autonomous Operations for Deep Space Vehicles

Science.gov (United States)

Haddock, Angie T.; Stetson, Howard K.

2014-01-01

Starting in Jan 2012, the Advanced Exploration Systems (AES) Autonomous Mission Operations (AMO) Project began to investigate the ability to create and execute "single button" crew initiated autonomous activities [1]. NASA Marshall Space Flight Center (MSFC) designed and built a fluid transfer hardware test-bed to use as a sub-system target for the investigations of intelligent procedures that would command and control a fluid transfer test-bed, would perform self-monitoring during fluid transfers, detect anomalies and faults, isolate the fault and recover the procedures function that was being executed, all without operator intervention. In addition to the development of intelligent procedures, the team is also exploring various methods for autonomous activity execution where a planned timeline of activities are executed autonomously and also the initial analysis of crew procedure development. This paper will detail the development of intelligent procedures for the NASA MSFC Autonomous Fluid Transfer System (AFTS) as well as the autonomous plan execution capabilities being investigated. Manned deep space missions, with extreme communication delays with Earth based assets, presents significant challenges for what the on-board procedure content will encompass as well as the planned execution of the procedures.

Urbanization in the US: land use trends, impacts on forest area, projections, and policy considerations

Science.gov (United States)

Ralph Alig

2010-01-01

Since World War II, socio-economic drivers of US urbanization such as population totals and personal income levels have increased substantially. Human land use is the primary force driving changes in forest ecosystem attributes including forest area, which is the focus of this paper. The percentage of the US population residing in urban areas is higher than that in...

Autonomous Science Analysis with the New Millennium Program-Autonomous Sciencecraft Experiment

Science.gov (United States)

Doggett, T.; Davies, A. G.; Castano, R. A.; Baker, V. R.; Dohm, J. M.; Greeley, R.; Williams, K. K.; Chien, S.; Sherwood, R.

2002-12-01

The NASA New Millennium Program (NMP) is a testbed for new, high-risk technologies, including new software and hardware. The Autonomous Sciencecraft Experiment (ASE) will fly on the Air Force Research Laboratory TechSat-21 mission in 2006 is such a NMP mission, and is managed by the Jet Propulsion Laboratory, California Institute of Technology. TechSat-21 consists of three satellites, each equipped with X-band Synthetic Aperture Radar (SAR) that will occupy a 13-day repeat track Earth orbit. The main science objectives of ASE are to demonstrate that process-related change detection and feature identification can be conducted autonomously during space flight, leading to autonomous onboard retargeting of the spacecraft. This mission will observe transient geological and environmental processes using SAR. Examples of geologic processes that may be observed and investigated include active volcanism, the movement of sand dunes and transient features in desert environments, water flooding, and the formation and break-up of lake ice. Science software onboard the spacecraft will allow autonomous processing and formation of SAR images and extraction of scientific information. The subsequent analyses, performed on images formed onboard from the SAR data, will include feature identification using scalable feature "templates" for each target, change detection through comparison of current and archived images, and science discovery, a search for other features of interest in each image. This approach results in obtaining the same science return for a reduced amount of resource use (such as downlink) when compared to that from a mission operating without ASE technology. Redundant data is discarded. The science-driven goals of ASE will evolve during the ASE mission through onboard replanning software that can re-task satellite operations. If necessary, as a result of a discovery made autonomously by onboard science processing, existing observation sequences will be pre-empted to

Autonomous search

CERN Document Server

Hamadi, Youssef; Saubion, Frédéric

2012-01-01

Autonomous combinatorial search (AS) represents a new field in combinatorial problem solving. Its major standpoint and originality is that it considers that problem solvers must be capable of self-improvement operations. This is the first book dedicated to AS.

Characterisation of an urban bus network for environmental purposes.

Science.gov (United States)

André, Michel; Villanova, André

2004-12-01

Since pollutant emissions are closely related to the operating conditions of vehicles, their evaluation usually involves studying these operating conditions (through bus instrumentation and monitoring under actual operation), the design of representative driving or engine test cycles and the measurement of pollutant emissions. A preliminary characterisation of the routes on a bus network should make it possible to identify typical routes, the driving conditions and pollutant emissions of which are then studied. Two approaches are envisaged and applied to the Paris area, for which a wealth of information is available, which should be transferable to other bus networks. Both approaches are based on factorial analysis and automatic clustering, to allow optimum description and the identification of a pertinent typology of the bus routes in several classes. The first attempt at characterisation is based on statistics relating to bus operations: route characteristics (length, dedicated bus lanes, number of stops, location of stops: schools, tourist sites, hospitals, railways or underground stations), travel time, commercial speed, annual statistics (number of passengers, number of vehicles per hour, total kilometres), the irregularity of travel (variation of travel times, injuries, congestion.), as well as information on the problems encountered (congestion, distribution of the passenger load, junctions, bends). A second approach is based on the analysis of the "urban context" in which buses are driven. Population, employment, housing, road network, traffic and places that generate or disturb traffic (schools, railway stations, shopping areas, etc.) are calculated for the Ile de France region, by cells of 100 x 100 m, and collected in a geographical information system (GIS). Statistical analyses enable a typology of these urban cells to be established, the main parameters being density, type of housing, road types and traffic levels. The bus routes are then analysed

Energy homeostasis, autonomic activity and obesity

NARCIS (Netherlands)

Scheurink, AJW; Balkan, B; Nyakas, C; vanDijk, G; Steffens, AB; Bohus, B

1995-01-01

Obesity is often accompanied by alterations in both sympathetic and parasympathetic autonomic functions. The present paper summarizes the results of a number of studies designed to investigate autonomic functioning in normal, genetically, and experimentally obese rats, Particular emphasis is given

Glaucoma and Driving: On-Road Driving Characteristics

Science.gov (United States)

Wood, Joanne M.; Black, Alex A.; Mallon, Kerry; Thomas, Ravi; Owsley, Cynthia

2016-01-01

Purpose To comprehensively investigate the types of driving errors and locations that are most problematic for older drivers with glaucoma compared to those without glaucoma using a standardized on-road assessment. Methods Participants included 75 drivers with glaucoma (mean = 73.2±6.0 years) with mild to moderate field loss (better-eye MD = -1.21 dB; worse-eye MD = -7.75 dB) and 70 age-matched controls without glaucoma (mean = 72.6 ± 5.0 years). On-road driving performance was assessed in a dual-brake vehicle by an occupational therapist using a standardized scoring system which assessed the types of driving errors and the locations where they were made and the number of critical errors that required an instructor intervention. Driving safety was rated on a 10-point scale. Self-reported driving ability and difficulties were recorded using the Driving Habits Questionnaire. Results Drivers with glaucoma were rated as significantly less safe, made more driving errors, and had almost double the rate of critical errors than those without glaucoma. Driving errors involved lane positioning and planning/approach, and were significantly more likely to occur at traffic lights and yield/give-way intersections. There were few between group differences in self-reported driving ability. Conclusions Older drivers with glaucoma with even mild to moderate field loss exhibit impairments in driving ability, particularly during complex driving situations that involve tactical problems with lane-position, planning ahead and observation. These results, together with the fact that these drivers self-report their driving to be relatively good, reinforce the need for evidence-based on-road assessments for evaluating driving fitness. PMID:27472221

Glaucoma and Driving: On-Road Driving Characteristics.

Directory of Open Access Journals (Sweden)

Joanne M Wood

Full Text Available To comprehensively investigate the types of driving errors and locations that are most problematic for older drivers with glaucoma compared to those without glaucoma using a standardized on-road assessment.Participants included 75 drivers with glaucoma (mean = 73.2±6.0 years with mild to moderate field loss (better-eye MD = -1.21 dB; worse-eye MD = -7.75 dB and 70 age-matched controls without glaucoma (mean = 72.6 ± 5.0 years. On-road driving performance was assessed in a dual-brake vehicle by an occupational therapist using a standardized scoring system which assessed the types of driving errors and the locations where they were made and the number of critical errors that required an instructor intervention. Driving safety was rated on a 10-point scale. Self-reported driving ability and difficulties were recorded using the Driving Habits Questionnaire.Drivers with glaucoma were rated as significantly less safe, made more driving errors, and had almost double the rate of critical errors than those without glaucoma. Driving errors involved lane positioning and planning/approach, and were significantly more likely to occur at traffic lights and yield/give-way intersections. There were few between group differences in self-reported driving ability.Older drivers with glaucoma with even mild to moderate field loss exhibit impairments in driving ability, particularly during complex driving situations that involve tactical problems with lane-position, planning ahead and observation. These results, together with the fact that these drivers self-report their driving to be relatively good, reinforce the need for evidence-based on-road assessments for evaluating driving fitness.

Glaucoma and Driving: On-Road Driving Characteristics.

Science.gov (United States)

Wood, Joanne M; Black, Alex A; Mallon, Kerry; Thomas, Ravi; Owsley, Cynthia

2016-01-01

To comprehensively investigate the types of driving errors and locations that are most problematic for older drivers with glaucoma compared to those without glaucoma using a standardized on-road assessment. Participants included 75 drivers with glaucoma (mean = 73.2±6.0 years) with mild to moderate field loss (better-eye MD = -1.21 dB; worse-eye MD = -7.75 dB) and 70 age-matched controls without glaucoma (mean = 72.6 ± 5.0 years). On-road driving performance was assessed in a dual-brake vehicle by an occupational therapist using a standardized scoring system which assessed the types of driving errors and the locations where they were made and the number of critical errors that required an instructor intervention. Driving safety was rated on a 10-point scale. Self-reported driving ability and difficulties were recorded using the Driving Habits Questionnaire. Drivers with glaucoma were rated as significantly less safe, made more driving errors, and had almost double the rate of critical errors than those without glaucoma. Driving errors involved lane positioning and planning/approach, and were significantly more likely to occur at traffic lights and yield/give-way intersections. There were few between group differences in self-reported driving ability. Older drivers with glaucoma with even mild to moderate field loss exhibit impairments in driving ability, particularly during complex driving situations that involve tactical problems with lane-position, planning ahead and observation. These results, together with the fact that these drivers self-report their driving to be relatively good, reinforce the need for evidence-based on-road assessments for evaluating driving fitness.

Towards Autonomous Agriculture: Automatic Ground Detection Using Trinocular Stereovision

Directory of Open Access Journals (Sweden)

Annalisa Milella

2012-09-01

Full Text Available Autonomous driving is a challenging problem, particularly when the domain is unstructured, as in an outdoor agricultural setting. Thus, advanced perception systems are primarily required to sense and understand the surrounding environment recognizing artificial and natural structures, topology, vegetation and paths. In this paper, a self-learning framework is proposed to automatically train a ground classifier for scene interpretation and autonomous navigation based on multi-baseline stereovision. The use of rich 3D data is emphasized where the sensor output includes range and color information of the surrounding environment. Two distinct classifiers are presented, one based on geometric data that can detect the broad class of ground and one based on color data that can further segment ground into subclasses. The geometry-based classifier features two main stages: an adaptive training stage and a classification stage. During the training stage, the system automatically learns to associate geometric appearance of 3D stereo-generated data with class labels. Then, it makes predictions based on past observations. It serves as well to provide training labels to the color-based classifier. Once trained, the color-based classifier is able to recognize similar terrain classes in stereo imagery. The system is continuously updated online using the latest stereo readings, thus making it feasible for long range and long duration navigation, over changing environments. Experimental results, obtained with a tractor test platform operating in a rural environment, are presented to validate this approach, showing an average classification precision and recall of 91.0% and 77.3%, respectively.

Cardiac autonomic tone during trandolapril-irbesartan low-dose combined therapy in hypertension: a pilot project.

Science.gov (United States)

Franchi, F; Lazzeri, C; Foschi, M; Tosti-Guerra, C; Barletta, G

2002-08-01

Pharmacological and clinical studies on the effects of angiotensin-converting enzyme (ACE) inhibitors support the idea of a central role played Angiotensin II which is able to cause cardiovascular and renal diseases also independently of its blood pressure elevating effects. The present investigation was aimed at evaluating the effect(s) of three different pharmacological regimens on both blood pressure and sympathetic drive in uncomplicated essential hypertension, by means of blood pressure laboratory measurements and ambulatory monitoring, 24-h heart rate variability and plasma noradrenaline levels. Thus, an ACE-inhibitor monotherapy (trandolapril, 2 mg/day), an AT(1)-receptor antagonist monotherapy (irbesartan, 300 mg/day), their low-dose combination (0.5 mg/day plus 150 mg/day, respectively) and placebo were given, in a randomised, single-blind, crossover fashion for a period of 3 weeks each to 12 mild essential hypertensives. Power spectral analysis (short recordings) and noradrenaline measurements were also performed in the supine position and after a postural challenge (60 degrees head-up tilting test: HUT). The low-dose combination therapy induced the greatest reduction in LF component and in LF/HF ratio, both in the resting and tilted positions, as well as in blood pressure. However, the physiological autonomic response to HUT was maintained. Noradrenaline plasma levels were lower after the combined therapy than after each drug alone. Our data demonstrate that in mild and uncomplicated essential hypertension, the chronic low-dose combination therapy with an ACE-inhibitor and an AT(1)-antagonist is more effective than the recommended full-dose monotherapy with either drug in influencing the autonomic regulation of the heart, suggesting a relative reduction in sympathetic drive both at cardiac and systemic levels.

Influence of driving cycles on Euro 3 scooter emissions and fuel consumption

International Nuclear Information System (INIS)

Prati, Maria V.; Zamboni, Giorgio; Costagliola, Maria A.; Meccariello, Giovanni; Carraro, Chiara; Capobianco, Massimo

2011-01-01

Highlights: → Fuel consumption and emissions of Euro 3 scooters defined on different driving cycles. → Comparison of standard, real world driving cycles and measured urban speed patterns. → Statistical analysis of kinematic parameters to group driving cycle in clusters. → Clusters can explain pollutant and fuel consumption behaviour in hot conditions. → Cold start mixture enrichment strategy has a major influence on extra-emissions. - Abstract: Regulated pollutant emissions and fuel consumption were characterized at the exhaust of two Euro 3 4-stroke medium-size motorcycles during the execution of both standard and real world driving cycles. A principal component analysis was carried out to group in a cluster the driving cycles with similar kinematic parameters. Hot start results, analysed according to this cluster grouping, show that the main differences are explained by overall mean speed and high positive acceleration of driving cycles. Lower mean speeds produce higher CO 2 emission factors, while the influence on CO and HC is more complex. NO X are not significantly affected by the driving pattern. Inside the same cluster, the whole duration of the acceleration phases could discriminate emission behaviour. In-depth analysis of cold start results was conducted in order to assess the influence of the driving cycle and vehicle characteristics on cold start duration. Cold start extra emissions are more influenced by the duration of the enrichment phase than by the catalyst light-off. The larger number of accelerations occurring during real world driving cycles produces higher variability of air fuel ratio and hence higher cold start extra emissions.

Research Institute for Autonomous Precision Guided Systems

National Research Council Canada - National Science Library

Rogacki, John R

2007-01-01

... vehicles, cooperative flight of autonomous aerial vehicles using GPS and vision information, cooperative and sharing of information in search missions involving multiple autonomous agents, multi-scale...

Stereo-vision-based terrain mapping for off-road autonomous navigation

Science.gov (United States)

Rankin, Arturo L.; Huertas, Andres; Matthies, Larry H.

2009-05-01

Successful off-road autonomous navigation by an unmanned ground vehicle (UGV) requires reliable perception and representation of natural terrain. While perception algorithms are used to detect driving hazards, terrain mapping algorithms are used to represent the detected hazards in a world model a UGV can use to plan safe paths. There are two primary ways to detect driving hazards with perception sensors mounted to a UGV: binary obstacle detection and traversability cost analysis. Binary obstacle detectors label terrain as either traversable or non-traversable, whereas, traversability cost analysis assigns a cost to driving over a discrete patch of terrain. In uncluttered environments where the non-obstacle terrain is equally traversable, binary obstacle detection is sufficient. However, in cluttered environments, some form of traversability cost analysis is necessary. The Jet Propulsion Laboratory (JPL) has explored both approaches using stereo vision systems. A set of binary detectors has been implemented that detect positive obstacles, negative obstacles, tree trunks, tree lines, excessive slope, low overhangs, and water bodies. A compact terrain map is built from each frame of stereo images. The mapping algorithm labels cells that contain obstacles as nogo regions, and encodes terrain elevation, terrain classification, terrain roughness, traversability cost, and a confidence value. The single frame maps are merged into a world map where temporal filtering is applied. In previous papers, we have described our perception algorithms that perform binary obstacle detection. In this paper, we summarize the terrain mapping capabilities that JPL has implemented during several UGV programs over the last decade and discuss some challenges to building terrain maps with stereo range data.

Urban form and job access: Disparate realities in the Randstad

NARCIS (Netherlands)

Ham, M. van; Hooimeijer, P.; Mulder, C.H.

2001-01-01

Deconcentration of employment is the driving force behind the rise of the complex urban forms of the polycentric city and the polynucleated metropolis. It is often assumed that the deconcentration process improves job access for average and highly skilled workers, allowing them to move to peripheral

Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles

Science.gov (United States)

2007-11-01

Tolerant Overactuated Autonomous Vehicles Casavola, A.; Garone, E. (2007) Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous ...Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6...Tolerant Overactuated Autonomous Vehicles 3.2 - 2 RTO-MP-AVT-145 UNCLASSIFIED/UNLIMITED Control allocation problem (CAP) - Given a virtual input v(t

Overfeeding, autonomic regulation and metabolic consequences.

NARCIS (Netherlands)

Scheurink, A.J.W.; Balkan, B; Strubbe, J.H.; van Dijk, G.; Steffens, A.B

The autonomic nervous system plays an important role in the regulation of body processes in health and disease. Overfeeding and obesity (a disproportional increase of the fat mass of the body) are often accompanied by alterations in both sympathetic and parasympathetic autonomic functions. The

Calibration of skill and judgment in driving: development of a conceptual framework and the implications for road safety.

Science.gov (United States)

Horrey, William J; Lesch, Mary F; Mitsopoulos-Rubens, Eve; Lee, John D

2015-03-01

Humans often make inflated or erroneous estimates of their own ability or performance. Such errors in calibration can be due to incomplete processing, neglect of available information or due to improper weighing or integration of the information and can impact our decision-making, risk tolerance, and behaviors. In the driving context, these outcomes can have important implications for safety. The current paper discusses the notion of calibration in the context of self-appraisals and self-competence as well as in models of self-regulation in driving. We further develop a conceptual framework for calibration in the driving context borrowing from earlier models of momentary demand regulation, information processing, and lens models for information selection and utilization. Finally, using the model we describe the implications for calibration (or, more specifically, errors in calibration) for our understanding of driver distraction, in-vehicle automation and autonomous vehicles, and the training of novice and inexperienced drivers. Copyright © 2014 The Authors. Published by Elsevier Ltd.. All rights reserved.

Autonomic dysfunction in different subtypes of multiple system atrophy.

Science.gov (United States)

Schmidt, Claudia; Herting, Birgit; Prieur, Silke; Junghanns, Susann; Schweitzer, Katherine; Globas, Christoph; Schöls, Ludger; Reichmann, Heinz; Berg, Daniela; Ziemssen, Tjalf

2008-09-15

Multiple system atrophy (MSA) can clinically be divided into the cerebellar (MSA-C) and the parkinsonian (MSA-P) variant. However, till now, it is unknown whether autonomic dysfunction in these two entities differs regarding severity and profile. We compared the pattern of autonomic dysfunction in 12 patients with MSA-C and 26 with MSA-P in comparison with 27 age- and sex-matched healthy controls using a standard battery of autonomic function tests and a structured anamnesis of the autonomic nervous system. MSA-P patients complained significantly more often about the symptoms of autonomic dysfunctions than MSA-C patients, especially regarding vasomotor, secretomotor, and gastrointestinal subsystems. However, regarding cardiovascular, sudomotor pupil, urogenital, and sleep subsystems, there were no significant quantitative or qualitative differences as analyzed by autonomic anamnesis and testing. Our results suggest that there are only minor differences in the pattern of autonomic dysfunction between the two clinical MSA phenotypes. (c) 2007 Movement Disorder Society.

The Bering Autonomous Target Detection

DEFF Research Database (Denmark)

Jørgensen, John Leif; Denver, Troelz; Betto, Maurizio

2003-01-01

An autonomous asteroid target detection and tracking method has been developed. The method features near omnidirectionality and focus on high speed operations and completeness of search of the near space rather than the traditional faint object search methods, employed presently at the larger...... telescopes. The method has proven robust in operation and is well suited for use onboard spacecraft. As development target for the method and the associated instrumentation the asteroid research mission Bering has been used. Onboard a spacecraft, the autonomous detection is centered around the fully...... autonomous star tracker the Advanced Stellar Compass (ASC). One feature of this instrument is that potential targets are registered directly in terms of date, right ascension, declination, and intensity, which greatly facilitates both tracking search and registering. Results from ground and inflight tests...

Using a smart wheelchair as a gaming device for floor-projected games: a mixed-reality environment for training powered-wheelchair driving skills.

Science.gov (United States)

Secoli, R; Zondervan, D; Reinkensmeyer, D

2012-01-01

For children with a severe disability, such as can arise from cerebral palsy, becoming independent in mobility is a critical goal. Currently, however, driver's training for powered wheelchair use is labor intensive, requiring hand-over-hand assistance from a skilled therapist to keep the trainee safe. This paper describes the design of a mixed reality environment for semi-autonomous training of wheelchair driving skills. In this system, the wheelchair is used as the gaming input device, and users train driving skills by maneuvering through floor-projected games created with a multi-projector system and a multi-camera tracking system. A force feedback joystick assists in steering and enhances safety.

Cognitive disorders in children associated with urban vehicular emissions

International Nuclear Information System (INIS)

Annavarapu, Ramesh Naidu; Kathi, Srujana

2016-01-01

This review introduces recent advances in an emerging research area that is focussed on studying the effect of exposure to vehicular emissions on cognition, with specific attention to children from urban environments. Today, air pollution is a global environmental issue, especially in urban environments, emitting particulate matter (PM), nitrogen dioxide (NO_2), carbon monoxide (CO), volatile organic compounds (VOCs) and polycyclic aromatic hydrocarbons (PAHs) into the surroundings. The association of exposure to urban air pollution and cognitive disorders in children is a major cause of concern. We review recent findings associated with exposure to air pollutants and explained the potential mechanisms driving oxidative stress in living systems. An attempt has been made to investigate the cognitive effects of air pollutants leading to neurodegeneration, neurodysfunction, attention deficit/hypersensitivity deficiencies and autism in children. Accumulating evidence suggests that urban air pollution may have significant impact on central nervous system (CNS) of the developing brain. - Highlights: • Developing brain is vulnerable to the effect of urban air pollution. • Urban emissions cause neurodegeneration and attention deficits among children. • Exposure to air pollutants leads to oxidative stress in living systems.

Development of BLDC Electric Motor Control System In Hydraulic Servo Drive Based on Variable Hydrostatic Transmission

Directory of Open Access Journals (Sweden)

O. I. Tarasov

2014-01-01

Full Text Available Modern robotic systems require the use of servo drives. Owing to encoder and negative feedback these drives ensure highly accurate motion parameters. In case of autonomous systems drives must also have high power characteristics. Moreover, in most cases, it was impossible to select the motor so that the speed and torque on its shaft were in compliance with those of required by the actuator. To match these parameters different types of reducers are used. The article justifies and considers a selection criterion of the gear ratios for such transmission. For clarity, there is an example of selecting a motor and a gear for above transmission, taking into account the proposed criterion. In addition, the article discusses the advantages of using hydrostatic transmission in the drive, which monitors the angular position of the output level, in comparison with a mechanical gearbox. Due to the fact that, at the moment, BLDC motors have the best power characteristics, such a servo drive requires a special control system that will take into account the features of variable hydrostatic transmission and electric BLDC motor. Therefore, the paper proposes a structure of such a system and set out the principles of its construction. Various embodiments of sensor types that may be used in this system and their installation scheme explained.

Urban Land Expansion and Structural Change in the Yangtze River Delta, China

Directory of Open Access Journals (Sweden)

Jinlong Gao

2015-07-01

Full Text Available Urban development in China has attracted considerable scholarly attention. However, more work is still needed to examine and understand the mechanisms of urban land expansion, especially within the context of globalization/marketization, decentralization and urbanization. This paper analyzes urban land expansion and structural changes in the Yangtze River Delta (YRD. We find that cities in the YRD are experiencing urban land expansion mainly characterized by the growth of residential and industrial land. The dominant characteristics of urban land expansion in cities have also varied within different development and administrative levels. Based on our conceptual framework, we have used multi-models to investigate the driving forces of urban land expansion and structural changes in the YRD. The results reveal that six influencing factors—foreign direct investment (FDI, labor, government competition, institution, population, and job-housing relations—facilitate land use change in the economic transition process. However, their impacts differ in cities in different geographical locations, as well as with different administrative levels. Finally, this paper discusses policies to promote sustainable urban land use in the YRD.

Autonomic Dysfunction in Patients with Mild to Moderate Alzheimer's Disease

DEFF Research Database (Denmark)

Jensen-Dahm, Christina; Waldemar, Gunhild; Staehelin Jensen, Troels

2015-01-01

BACKGROUND: Autonomic function has received little attention in Alzheimer's disease (AD). AD pathology has an impact on brain regions which are important for central autonomic control, but it is unclear if AD is associated with disturbance of autonomic function. OBJECTIVE: To investigate autonomic...

Saturday Driving Restrictions Fail to Improve Air Quality in Mexico City

Science.gov (United States)

Davis, Lucas W.

2017-02-01

Policymakers around the world are turning to license-plate based driving restrictions in an effort to address urban air pollution. The format differs across cities, but most programs restrict driving once or twice a week during weekdays. This paper focuses on Mexico City, home to one of the oldest and best-known driving restriction policies. For almost two decades Mexico City’s driving restrictions applied during weekdays only. This changed recently, however, when the program was expanded to include Saturdays. This paper uses hourly data from pollution monitoring stations to measure the effect of the Saturday expansion on air quality. Overall, there is little evidence that the program expansion improved air quality. Across eight major pollutants, the program expansion had virtually no discernible effect on pollution levels. These disappointing results stand in sharp contrast to estimates made before the expansion which predicted a 15%+ decrease in vehicle emissions on Saturdays. To understand why the program has been less effective than expected, the paper then turns to evidence from subway, bus, and light rail ridership, finding no evidence that the expansion was successful in getting drivers to switch to lower-emitting forms of transportation.

Functional Imaging of Autonomic Regulation: Methods and Key Findings

Directory of Open Access Journals (Sweden)

Paul M Macey

2016-01-01

Full Text Available Central nervous system processing of autonomic function involves a network of regions throughout the brain which can be visualized and measured with neuroimaging techniques, notably functional magnetic resonance imaging (fMRI. The development of fMRI procedures has both confirmed and extended earlier findings from animal models, and human stroke and lesion studies. Assessments with fMRI can elucidate interactions between different central sites in regulating normal autonomic patterning, and demonstrate how disturbed systems can interact to produce aberrant regulation during autonomic challenges. Understanding autonomic dysfunction in various illnesses reveals mechanisms that potentially lead to interventions in the impairments. The objectives here are to: 1 describe the fMRI neuroimaging methodology for assessment of autonomic neural control, 2 outline the widespread, lateralized distribution of function in autonomic sites in the normal brain which includes structures from the neocortex through the medulla and cerebellum, 3 illustrate the importance of the time course of neural changes when coordinating responses, and how those patterns are impacted in conditions of sleep-disordered breathing, and 4 highlight opportunities for future research studies with emerging methodologies. Methodological considerations specific to autonomic testing include timing of challenges relative to the underlying fMRI signal, spatial resolution sufficient to identify autonomic brainstem nuclei, blood pressure and blood oxygenation influences on the fMRI signal, and the sustained timing, often measured in minutes of challenge periods and recovery. Key findings include the lateralized nature of autonomic organization, which is reminiscent of asymmetric motor, sensory and language pathways. Testing brain function during autonomic challenges demonstrate closely-integrated timing of responses in connected brain areas during autonomic challenges, and the involvement with

Advanced Autonomous Systems for Space Operations

Science.gov (United States)

Gross, A. R.; Smith, B. D.; Muscettola, N.; Barrett, A.; Mjolssness, E.; Clancy, D. J.

2002-01-01

New missions of exploration and space operations will require unprecedented levels of autonomy to successfully accomplish their objectives. Inherently high levels of complexity, cost, and communication distances will preclude the degree of human involvement common to current and previous space flight missions. With exponentially increasing capabilities of computer hardware and software, including networks and communication systems, a new balance of work is being developed between humans and machines. This new balance holds the promise of not only meeting the greatly increased space exploration requirements, but simultaneously dramatically reducing the design, development, test, and operating costs. New information technologies, which take advantage of knowledge-based software, model-based reasoning, and high performance computer systems, will enable the development of a new generation of design and development tools, schedulers, and vehicle and system health management capabilities. Such tools will provide a degree of machine intelligence and associated autonomy that has previously been unavailable. These capabilities are critical to the future of advanced space operations, since the science and operational requirements specified by such missions, as well as the budgetary constraints will limit the current practice of monitoring and controlling missions by a standing army of ground-based controllers. System autonomy capabilities have made great strides in recent years, for both ground and space flight applications. Autonomous systems have flown on advanced spacecraft, providing new levels of spacecraft capability and mission safety. Such on-board systems operate by utilizing model-based reasoning that provides the capability to work from high-level mission goals, while deriving the detailed system commands internally, rather than having to have such commands transmitted from Earth. This enables missions of such complexity and communication` distances as are not

A Primer on Autonomous Aerial Vehicle Design.

Science.gov (United States)

Coppejans, Hugo H G; Myburgh, Herman C

2015-12-02

There is a large amount of research currently being done on autonomous micro-aerial vehicles (MAV), such as quadrotor helicopters or quadcopters. The ability to create a working autonomous MAV depends mainly on integrating a simultaneous localization and mapping (SLAM) solution with the rest of the system. This paper provides an introduction for creating an autonomous MAV for enclosed environments, aimed at students and professionals alike. The standard autonomous system and MAV automation are discussed, while we focus on the core concepts of SLAM systems and trajectory planning algorithms. The advantages and disadvantages of using remote processing are evaluated, and recommendations are made regarding the viability of on-board processing. Recommendations are made regarding best practices to serve as a guideline for aspirant MAV designers.

URBAN SELF-ORGANISATION IN DEPRIVED NEIGHBORHOODS: POSSIBILITIES AND LIMITS OF AUTONOMOUS COLLECTIVE ARTICULATION IN SALVADOR DA BAHIA

OpenAIRE

Katja Hölldampf; Eberhard Rothfuss

2013-01-01

From a comparative point of view, the given article is concerned with the possibilities and restrictions of urban self-organization within city’s neighbourhoods. Drawing upon a qualitative comparison between the case studies Alto de Ondina and Alto da Sereia – two disadvantaged urban neighbourhoods in the southern city centre of Salvador da Bahia (Brazil) – and considering the conditional framework of daily life there, the idiographic context conditions that foster and alternatively impede se...

Exact Solutions for Certain Nonlinear Autonomous Ordinary Differential Equations of the Second Order and Families of Two-Dimensional Autonomous Systems

Directory of Open Access Journals (Sweden)

M. P. Markakis

2010-01-01

Full Text Available Certain nonlinear autonomous ordinary differential equations of the second order are reduced to Abel equations of the first kind ((Ab-1 equations. Based on the results of a previous work, concerning a closed-form solution of a general (Ab-1 equation, and introducing an arbitrary function, exact one-parameter families of solutions are derived for the original autonomous equations, for the most of which only first integrals (in closed or parametric form have been obtained so far. Two-dimensional autonomous systems of differential equations of the first order, equivalent to the considered herein autonomous forms, are constructed and solved by means of the developed analysis.