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This paper provides an overview on the software architecture used for the realization of cooperative behavior of heterogeneous marine robots. The work was performed within the European Research Project MORPH (FP7-ICT-288704) which strived for the solution to ocean mapping missions over harsh environments like vertical and overhanging cliff walls by employing a team of different unmanned marine crafts...
A key to developing autonomous maritime systems for NATO is communication among data gathering platforms below and above the water. However, unlike the mature technologies that are used for terrestrial networks, underwater communications is still in an early stage. This paper provides an overview of CMRE's activities in the field of underwater communications where emphasis has been put in addressing...
Modeling and simulation of transportation systems are extensively used because of high costs and potential safety and security issues associated with its prototyping in a real traffic. Modeling and simulation play a key role in understanding real systems through abstraction and evaluating new technologies. In this paper, we conducted a simulation-based analysis to assess potential benefits of applying...
We present a novel, deeply embedded robotics middleware and programming environment. It uses a multithreaded, publish-subscribe design pattern and provides a Unix-like software interface for micro controller applications. We improve over the state of the art in deeply embedded open source systems by providing a modular and standards-oriented platform. Our system architecture is centered around a publish-subscribe...
This paper presents a design technique for fuzzy-logic control (FLC) of a moving vehicle in order to avoid collision with obstacles in an unknown environment. The fuzzy system consists of ultrasonic sensors, fuzzy control algorithm, and a battery-driven car. A visual simulation program is constructed to facilitate the development of the linguistic fuzzy rules and to tune the shape of the membership...
Legged vehicles have the advantage over traditional wheeled vehicles is that they are capable of travelling on virtually any type of terrain. To realise this advantage, legged robots must possess efficient control and gait generation strategies. This paper presents a novel technique that contributes to a unique control system that has been developed to provide walking/climbing motions for an advanced...
This paper deals with automation of stage preparation activities of LVM3 (Launch Vehicle Mark -III) during Vehicle Assembly. The LVM 3 vehicle consists of three stages, one cryo stage, one liquid stage and two solid stages. The stage preparation activities include the charging of POGO gas bottles, leak check of liquid stage, DM water filling etc. The stage preparation activities are automated by using...
Mobile Opportunistic Commerce (MOC) is a new mobile commerce mode, its essence is a kind of information service mode based on location service, it saves time cost and path cost for the users by providing opportunity commerce information, and forms the opportunity benefits. By users paying for these information services, the values are delivered between the participating entities of the MOC. Based...
We present and demonstrate an innovative and extremely low cost aerial monitoring and surveillance platform based on integrating open source and small unmanned aerial vehicles (UAV) with a highly capable compact, lightweight smart phone. We investigated sensors available within smart phones such as the camera, GPS, gyroscope and accelerometer, to integrate computing and sensing capabilities to the...
User experience of the vehicles’ telematics services depends on quality of bidirectional network connection between the vehicle and stationary high-performance computing system. In this case, there is a task of ensuring continuous data transmission between the vehicle and stationary computing system in the conditions of highly dynamic networks. The answer is to retrieve data about surrounding networks...
It has been suggested in the literature to organize software in autonomous vehicles as hierarchical layers where each layer makes its own decisions based on its own world model. This paper presents two alternative designs for autonomous construction vehicles based on the layered framework 4D/RCS. As a first step, the typical use cases for these vehicles were defined. Then one use case for a hauler...
Data stream management systems (DSMSs) are useful for the management and processing of continuous data at a high input rate with low latency. In the automotive domain, embedded systems use a variety of sensor data and communications from outside the vehicle to promote autonomous and safe driving. Thus, the software developed for these systems must be capable of handling large volumes of data and complex...
Safety of automotive systems is becoming more involved, specially for the case of autonomous vehicles. The ISO 26262 standard offers a systematic approach for designing a safe road vehicle (or subsystems of a car) from design phase through its production. However, providing functional safety (according to ISO 26262) for an existing system is a challenge which needs further effort. This research addresses...
Detailed procedure for laboratory set up of Miniature Aerial System (MAS) simulator. MAS have three parts viz., Miniature (unmanned) air vehicle (MAV), wireless communication link and ground control station (GCS). For testing, flying MAV every time is more expensive and not viable. To overcome this problem, a laboratory based Miniature Aerial Vehicle Flight Simulator (MAVFS) has been developed by...
This paper proposes a field-programmable gate array (FPGA)-based software defined radio (SDR) implemented flight termination system (FTS). This is purely a new kind of implementation of digital FTS in SDR platform. The applied design procedure replaces a multiple platform-based system with a single platform. It also guarantees reconfigurable, interoperable, portable, and handy FTS, and maintains errorless,...
In the modern world of today, technology means everything. It comes in many shapes and sizes: from tablets, smartphones, laptops, cars that drive themselves and flying drones. The world around us is becoming more and more interested in new inventions. With this, there is a growing need for innovations to help firefighters, doctors, automotive and people from other areas. The paper presents an alternative...
Nowadays it has become common practice to use multi core SoCs in safety related Advanced Driver Assistance Systems (ADAS). The ISO 26262 functional safety standard provides requirements to avoid or reduce the risk caused by these systems. In safety related systems, a comprehensive test strategy is required to guarantee successful normal operation for the SoC throughout its life cycle. Software based...
In compliance with federal requirements, many states heavily invest in establishing Traffic Monitoring Systems (TMS). A number of automatic vehicle counting and weigh-in-motion sites have been deployed to collect on-demand traffic information including, among others, vehicle volume, weight, and classification. Some TMS are also equipped with weather stations and road-surface probes. This paper presents...
To ensure safety and usability of advanced in-car cockpit solutions, prospective evaluation during early prototyping stages is important, especially when developing innovative human-cockpit-interactions. In this context, highly realistic test environments will help to provide reliable and valid findings. Nevertheless, real car driving studies are difficult to control, manipulate, replicate and standardize...
In accordance with the rapid increment of advanced In-Vehicle Infotainment (IVI) services, the MOST has been commercialized. The MOST provides S/W stacks for all layers, but these are full of paradoxical flaws because they are not based on the open standard S/W stack and thus are unfamiliar with IT-Automotive convergence S/W developers. To solve this problem and deploy the MOST more widely, the Android-based...
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