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Vehicular Adhoc Networks (VANETs) have been attracted a lot of research recent years. Although VANETs are deployed in reality offering several services, the current architecture has been facing many difficulties in deployment and management because of poor connectivity, less scalability, less flexibility and less intelligence. We propose a new VANET architecture called FSDN which combines two emergent...
A new Hardware In the Loop (HIL) architecture to study high speed trains dynamics on full-scale test-rigs is proposed in this work. Through the new architecture different wheel-rail adhesion patterns and, in particular, degraded adhesion conditions can be reproduced on the test-rig. The new strategy will be implemented into the full-scale test-rig of the Railway Research and Approval Center of Firenze-Osmannoro...
In robotics, nowadays, there is a strong evergrowing interest in executing replicable experiments to assess robots performance. This demand can't be easy fulfilled without established ad-hoc procedures to be followed. To this aim, an innovative software framework named DeepRuler is proposed. The presented software is able to design, automatically execute and evaluate highly replicable path-following...
Autonomous Underwater Vehicles (AUVs) have been widely used in assisting scientific operations. They can increase the scientific output by performing operations in a cost effective and safe manner. This paper focuses in the underwater archaeology scientific discipline. It presents the distributed high level architecture developed by the Heriot Watt University Ocean Systems Laboratory (HWUOSL) in the...
The problem of Mission Planning for a large number of Unmanned Air Vehicles (UAVs) comprises a set of locations to visit in different time windows, and the actions that the vehicle can perform based on its features, such as sensors, speed or fuel consumption. Although this problem is increasingly more supported by Artificial Intelligence systems, nowadays human factors are still critical to guarantee...
This work describes a multi-agent Navigation Guidance and Control system that is designed to equipping a low-cost ASV. Beside facilitating design, construction and maintenance, the multi-agent structure gives modularity and it increases reliability against partial failures. Individual agents are implemented using ROS and a dedicated, custom developed hardware board that couples an ARM processor and...
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 addresses the problem of trajectory generation for a remotely operated vehicle (ROV). The ROV is a nonholonomic vehicle and has limited actuator capabilities. This means that the task of trajectory generation for the inspection of underwater structures is not a trivial one, and that it cannot be done without computer aided design tools. The approach is based on techniques developed for...
Research on vehicular networks has increased for more than a decade, however, the maturity of involved technologies has been recently reached and standards/specifications in the area are being released these days. Although there are a number of protocols and network architecture proposals in the literature, above all in the Vehicular Ad-hoc Network (VANET) domain, most of them lack from realistic...
PHM (Prognostics and Health Monitoring) can be defined as the capability of assessing the health condition, forecasting impending failures and the expected RUL (Remaining Useful Life) of a component based on a set of measurements collected from systems. Additionally, an important concept that could stem from PHM is IVHM (Integrate Vehicle Health Management); that is the unified capability of integrating...
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...
This paper presents the computer and sensor architecture of a new vehicle and the management system at the core of a new urban transport system now under development at INRIA. The system is operational since june 2001 with 5 electric vehicles developed in cooperation with Yamaha.
The recent push for electrified vehicles, including both plug-in hybrid vehicles and pure electric vehicle may further increase peak electrical load if left unmitigated, resulting in more demand for generation and transmission capacities. Fortunately, PEVs can be treated as controllable loads or even power sources under extraneous situations for demand side management (DSM). Although centralized approach...
Two configurable and programmable ASICs that implement piecewise-affine (PWA) functions have been designed in TSMC 90-nm technology in response to industry demands for embedded, fast response time, and low power solutions for Model Predictive Control (MPC). An automated model-based design flow can extract the parameters necessary for the configuration and the programming of both ASICs. Two application...
Congestion, accidents, pollution, and many other problems resulting from urban traffic are present every day in most cities around the world. The growing number of traffic lights in intersections needs efficient control, and hence, automatic systems are essential nowadays for optimally tackling this task. Agent based technologies and reinforcements learning are largely used for modelling and controlling...
In the recent years, many solutions for Vehicle to Vehicle (V2V) communication were proposed to overcome failure problems (also known as ‘dead-ends’). This paper proposes a novel framework for V2V failure recovery using Device-to-Device (D2D) communications. Based on the unified Intelligent Transportation Systems (ITS) architecture, LTE-based D2D mechanisms can improve V2V ‘dead-ends’ failure recovery...
We present a TLD-based vehicle tracking method, which uses HOG that is precomputed in the detection process, and an online SVM re-detector. We perform HOG-based tracking in EHMI. When the tracking fails, the system performs redetection for neighboring regions. Tracked vehicles are reused as positive data for re-learning. Therefore, the proposed system performs robust tracking without additional computation.
Joint purchases are a growing business activity with benefits to both consumers and sellers. We present a system that proactively and intelligently helps identify opportunities for joint purchasing and carry out this type of transactions.
Mobile cloud computing is a novel computing model, which integrates the cloud computing into the mobile environment and overcomes obstacles related to the performance, environment and security discussed in mobile computing. For a mobile cloud computing application system (MCCS), reliable components substitution is an important issue for troubleshooting and system upgrading. In this paper, this issue...
Recently, involving wireless communication technologies in deployment of new vehicular networks becomes more attracting to the research community and the vehicle manufacturers. It is beneficial in providing intelligent transportation system as well as new assistant services to drivers. However, the limitation of resources in mobile vehicles is a significant technical challenge in the deployment of...
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