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In this paper, we compare different deep neural network approaches for motion prediction within a highway entrance scenario. The focus of our work lies on models that operate on limited history of data in order to fulfill the Markov property1 and be usable within an integrated prediction and motion planning framework for automated vehicles. We examine different model structures and feature combinations...
Hierarchical Temporal Memory (HTM) is a computational model of the neocortex that is capable of online learning to predict and detect anomalies from continuous data streams. To make HTM also available on power-constrained robot systems, we investigate the feasibility of implementing the model on SpiNNaker, a fully programmable energy-efficient neuromorphic many core system. Our contribution is twofold:...
In this paper, a lightweight central pattern generator(CPG) model is designed for a snake-like robot, to achieve smooth transition of body shape and locomotion speed. First, based on the convergence behavior of the gradient system, a lightweight CPG model with fast computing time is designed and compared with other widely adopted CPG models. Then, the body shape and locomotion speed transitions in...
Ubiquitous data from a variety of sources such as smart phones, vehicles equipped with GPS receivers and fixed sensors makes it an exciting time for the implementation of several Advanced Traffic Information and Management Systems (ATMS). Leveraging this data for current traffic state estimation along with short term predictions of traffic flow can have far reaching implications for the next generation...
Applications like cone beam computed tomographies (CBCTs) or 2D-3D overlays need a high geometrical accuracy of the C-arm system. In order to achieve this, geometry calibrations are performed to increase the accuracy given by the kinematics of the system. Commonly X-ray images of a phantom with known geometry are taken for the calibration. The images, together with a 3D model of the phantom, serve...
For large-scale urban system simulations the computing power of traditional workstations is not sufficient. The move to High Performance Computing clusters is a viable solution. Users of such simulations are domain experts with little knowledge in computer science and optimization of such simulations. The access to HPC resources is also not available. Vendors have not sufficiently addressed this....
Developing neuro-inspired computing paradigms that mimic nervous system function is an emerging field of research that fosters our model understanding of the biological system and targets technical applications in artificial systems. The computational power of simulated brain circuits makes them a very promising tool for the development for brain-controlled robots. Early phases of robotic controllers...
The large-scale introduction of plug-in electric vehicles (PEV) may pose challenges to power system operators by causing grid congestion or voltage fluctuations. This work presents a simulation-based approach for investigating the impact of transport electrification on power grids. The framework consists of an agent-based traffic simulation which is coupled with a power system simulation through the...
An electromagnetic simulation approach combining a full-wave method with ray tracing is presented. This is used to simulate the radiation characteristic of a roof antenna system on a vehicle roof. The radiated fields of the antenna are first simulated for example with CST Microwave Studio (MWS) or measured and then utilized in the ray tracer. Besides to the modeling of the roof itself, also the antenna...
Application of cardiopulmonary resuscitation to people suffering from cardiac arrest has become an effective way of increasing chances of survival. Current CPR is done manually, however new electro-mechanical resuscitation devices are capable of providing chest compressions at a constant rate and depth, even when the patient is being transported.
Simulation as a tool for validating the behavior of an autonomous driving system can include sensor and actuator errors. A combination of such errors might lead to undesired behavior not occurring with a single error. In this paper we present a new concept for efficiently covering these error combinations. We propose to divide the simulation sequence into small separately simulated pieces that can...
Timing anomalies in single-core processors have been theoretically explained and well understood phenomenon. This paper presents new timing anomalies which occur in multi-core architectures due to the interference on the shared resources. We derive formulation to capture these anomalies and provide practical evidences using real applications from the M¨alardalen WCET benchmark suit executing on NIOS...
Electro-mobility is widely regarded as the future of transportation systems. The shift from fossil fuel-based engines to electro-mobility will pose new challenges to the operations of future transportation systems. Our vision of a smart transportation system for the future entails a collaborative communication and simulation infrastructure that can help to mitigate common traffic-related problems...
The development of increasingly complex robots in recent years has been characterized by an extensive use of physics-based simulations for controller design and optimization. Today, a variety of open-source and commercial simulators exist for this purpose for mobile and industrial robots. However, existing simulation engines still lack support for the emerging class of tendon-driven robots. In this...
At the moment, the collaboration of human and robot is mainly based on a master-slave level with a human teleoperating the robot or programming it off-line allowing the robot to execute only static tasks. In industrial production the limitations make a collaboration at the moment nearly impossible, because of the needed safety for the human worker. Therefore, to ensure safety, the workspaces of humans...
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