Search results for: autonomous weapon systems

Authors: A. Brand, S. Burgalat, E. Chastel, M. Jumeline, L. Teilhac

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The paper presents actual benefits and drawbacks of a multidirectional Hovercraft conceived with limited resources and designed for indoor exploration. Recent developments in the field have led to apparition of very powerful automotive systems capable of very high calculation and exploration in complex unknown environments. They usually propose very complex algorithms, high precision/cost sensors and sometimes have heavy calculation consumption with complex data fusion. Those systems are usually powerful but have a certain price and the benefits may not be worth the cost, especially considering their hardware limitations and their power consumption. Present approach is to build a compromise between cost, power consumption and results preciseness.

Keywords: Hovercraft, indoor exploration, autonomous, multidirectional, wireless control

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Authors: Mahdi Allaoua Seklab, Süleyman BaşTürk

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In the quest to enhance coastal environmental health, this study introduces a fully autonomous beach cleaning machine, a breakthrough in leveraging green energy and advanced artificial intelligence for ecological preservation. Designed to operate independently, the machine is propelled by a solar-powered system, underscoring a commitment to sustainability and the use of renewable energy in autonomous robotics. The vehicle's autonomous navigation is achieved through a sophisticated integration of LIDAR and a camera system, utilizing an SSD MobileNet V2 object detection model for accurate and real-time trash identification. The SSD framework, renowned for its efficiency in detecting objects in various scenarios, is coupled with the lightweight and precise highly MobileNet V2 architecture, making it particularly suited for the computational constraints of on-board processing in mobile robotics. Training of the SSD MobileNet V2 model was conducted on Google Colab, harnessing cloud-based GPU resources to facilitate a rapid and cost-effective learning process. The model was refined with an extensive dataset of annotated beach debris, optimizing the parameters using the Adam optimizer and a cross-entropy loss function to achieve high-precision trash detection. This capability allows the machine to intelligently categorize and target waste, leading to more effective cleaning operations. This paper details the design and functionality of the beach cleaning machine, emphasizing its autonomous operational capabilities and the novel application of AI in environmental robotics. The results showcase the potential of such technology to fill existing gaps in beach maintenance, offering a scalable and eco-friendly solution to the growing problem of coastal pollution. The deployment of this machine represents a significant advancement in the field, setting a new standard for the integration of autonomous systems in the service of environmental stewardship.

Keywords: autonomous beach cleaning machine, renewable energy systems, coastal management, environmental robotics

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Authors: Khouloud Safa Azoud, Süleyman Baştürk

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In the pursuit of cleaner and more sustainable urban environments, advanced technologies play a critical role in evolving sanitation systems. This paper presents two distinct advancements in automated cleaning machines designed to improve urban sanitation. The first advancement is a semi-automatic road surface cleaning machine that integrates human labor with solar energy to enhance environmental sustainability and adaptability, especially in regions with limited access to electricity. By reducing carbon emissions and increasing operational efficiency, this approach offers significant potential for urban sanitation enhancement. The second advancement is a multifunctional semi-automatic street cleaning machine equipped with a camera, Arduino programming, and GPS for an autonomous operation aimed at addressing cost barriers in developing countries. Prioritizing low energy consumption and cost-effectiveness, this machine provides versatile cleaning solutions adaptable to various environmental conditions. By integrating solar energy with autonomous operating systems and careful design, these developments represent substantial progress in sustainable urban sanitation, particularly in developing regions.

Keywords: automated cleaning machines, solar energy integration, operational efficiency, urban sanitation systems

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Authors: Indraj Singh, Xuan Lee, Yu-Chieh Cheng

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Scientists are very keen on biomimetic research that mimics biological species to micro-robotic devices with the novel functionalities and accessibility. The source of inspiration is the complexity, sophistication, and intelligence of the biological systems. In this work, we design a light-driven star-shaped microgripper, an autonomous soft device which can change the shape under the external stimulus such as light. The design is based on light-responsive Liquid Crystal Elastomers which fabricated onto the polymer coated aligned substrate. The change in shape, controlled by the anisotropicity and the molecular orientation of the Liquid Crystal Elastomer, based on the external stimulus. This artificial star-shaped microgripper is capable of autonomous closure and capable to grab the objects in response to an external stimulus. This external stimulus-responsive materials design, based on soft active smart materials, provides a new approach to autonomous, self-regulating optical systems.

Keywords: liquid crystal elastomers, microgripper, smart materials, robotics

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Authors: Long Cheng, Tong He, Iraj Mantegh, Wen-Fang Xie

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Path planning is essential for UAVs (Unmanned Aerial Vehicle) with autonomous navigation in unknown environments. In this paper, an adaptive probabilistic sampling algorithm is proposed for the GPS-denied environment, which can be utilized for autonomous navigation system of multiple UAVs in a dynamically-changing structured environment. This method can be used for Unmanned Aircraft Systems Traffic Management (UTM) solutions and in autonomous urban aerial mobility, where a number of platforms are expected to share the airspace. A path network is initially built off line based on available environment map, and on-board sensors systems on the flying UAVs are used for continuous situational awareness and to inform the changes in the path network. Simulation results based on MATLAB and Gazebo in different scenarios and algorithms performance measurement show the high efficiency and accuracy of the proposed technique in unknown environments.

Keywords: path planning, adaptive probabilistic sampling, obstacle avoidance, multiple unmanned aerial vehicles, unknown environments

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Authors: Hyun Seop Uhm, Yong Ho Choi, Ji Eun Kim, Young Hoon Lee

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Weapon-target assignment (WTA) is a problem that assigns available launchers to appropriate targets in order to defend assets. Various algorithms for WTA have been developed over past years for both in the static and dynamic environment (denoted by SWTA and DWTA respectively). Due to the problem requirement to be solved in a relevant computational time, WTA has suffered from the solution efficiency. As a result, SWTA and DWTA problems have been solved in the limited situation of the battlefield. In this paper, the general situation under continuous time is considered by Time based Weapon Target Assignment (TWTA) problem. TWTA are studied using the mixed integer programming model, and three heuristic algorithms; decomposed opt-opt, decomposed opt-greedy, and greedy algorithms are suggested. Although the TWTA optimization model works inefficiently when it is characterized by a large size, the decomposed opt-opt algorithm based on the linearization and decomposition method extracted efficient solutions in a reasonable computation time. Because the computation time of the scheduling part is too long to solve by the optimization model, several algorithms based on greedy is proposed. The models show lower performance value than that of the decomposed opt-opt algorithm, but very short time is needed to compute. Hence, this paper proposes an improved method by applying decomposition to TWTA, and more practical and effectual methods can be developed for using TWTA on the battlefield.

Keywords: air and missile defense, weapon target assignment, mixed integer programming, piecewise linearization, decomposition algorithm, military operations research

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Authors: Mayank Raj, V. G. Narendra

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Ever since the DARPA challenge on autonomous vehicles in 2005, there has been a lot of buzz about ‘Autonomous Vehicles’ amongst the major tech giants such as Google, Uber, and Tesla. Numerous approaches have been adopted to solve this problem, which can have a long-lasting impact on mankind. In this paper, we have used Deep Learning techniques and TensorFlow framework with the goal of building a neural network model to predict (speed, acceleration, steering angle, and brake) features needed for navigation of autonomous vehicles. The Deep Neural Network has been trained on images and sensor data obtained from the comma.ai dataset. A heatmap was used to check for correlation among the features, and finally, four important features were selected. This was a multivariate regression problem. The final model had five convolutional layers, followed by five dense layers. Finally, the calculated values were tested against the labeled data, where the mean squared error was used as a performance metric.

Keywords: autonomous vehicles, deep learning, computer vision, artificial intelligence

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Authors: Hanbhin Ryu, Ilkwon Yun

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Automotive industry targets to provide an improvement in safety and convenience through realizing fully autonomous vehicle. For partially realizing fully automated driving, Current vehicles already feature varieties of advanced driver assistance system (ADAS) for safety and infotainment systems for the driver’s convenience. This paper presents Cloud Connected Vehicle (CCV) which connected vehicles with cloud data center via the access network to control the vehicle for achieving next autonomous driving form and describes its features. This paper also describes the shortcoming of the existing In-Vehicle Network (IVN) to be a next generation IVN of CCV and organize the 802.3 Ethernet, the next generation of IVN, related research issue to verify the feasibility of using Ethernet. At last, this paper refers to additional considerations to adopting Ethernet-based IVN for CCV.

Keywords: autonomous vehicle, cloud connected vehicle, ethernet, in-vehicle network

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Authors: Henning Lahmann, Benjamyn I. Scott, Bart Custers

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Suboptimal adoption of AI in defence organisations carries risks for the protection of the freedom, safety, and security of society. Despite the vast opportunities that defence AI-technology presents, there are also a variety of ethical, legal, and societal concerns. To ensure the successful use of AI technology by the military, ethical, legal, and societal aspects (ELSA) need to be considered, and their concerns continuously addressed at all levels. This includes ELSA considerations during the design, manufacturing and maintenance of AI-based systems, as well as its utilisation via appropriate military doctrine and training. This raises the question how defence organisations can remain strategically competitive and at the edge of military innovation, while respecting the values of its citizens. This paper will explain the set-up and share preliminary results of a 4-year research project commissioned by the National Research Council in the Netherlands on the ethical, legal, and societal aspects of AI in defence. The project plans to develop a future-proof, independent, and consultative ecosystem for the responsible use of AI in the defence domain. In order to achieve this, the lab shall devise a context-dependent methodology that focuses on the ‘analysis’, ‘design’ and ‘evaluation’ of ELSA of AI-based applications within the military context, which include inter alia unmanned aircraft. This is bolstered as the Lab also recognises and complements the existing methods in regards to human-machine teaming, explainable algorithms, and value-sensitive design. Such methods will be modified for the military context and applied to pertinent case-studies. These case-studies include, among others, the application of autonomous robots (incl. semi- autonomous) and AI-based methods against cognitive warfare. As the perception of the application of AI in the military context, by both society and defence personnel, is important, the Lab will study how these perceptions evolve and vary in different contexts. Furthermore, the Lab will monitor – as they may influence people’s perception – developments in the global technological, military and societal spheres. Although the emphasis of the research project is on different forms of AI in defence, it focuses on several case studies. One of these case studies is on unmanned aircraft, which will also be the focus of the paper. Hence, ethical, legal, and societal aspects of unmanned aircraft in the defence domain will be discussed in detail, including but not limited to privacy issues. Typical other issues concern security (for people, objects, data or other aircraft), privacy (sensitive data, hindrance, annoyance, data collection, function creep), chilling effects, PlayStation mentality, and PTSD.

Keywords: autonomous weapon systems, unmanned aircraft, human-machine teaming, meaningful human control, value-sensitive design

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Authors: Adrián P. Gómez Mañas

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Autonomous vehicles have already transformed urban policies and cities. This is the main assumption of our research, which aims to understand how the representations of the possible arrival of autonomous vehicles already transform priorities or actions in transport and more largely, urban policies. This research is done within the framework of a Ph.D. doctorate directed by Professor Xavier Desjardins at the Sorbonne University of Paris. Our hypotheses are: (i) the perspectives, representations, and imaginaries on autonomous vehicles already affect the stakeholders of urban policies; (ii) the discourses on the opportunities or threats of autonomous vehicles reflect the current strategies of the stakeholders. Each stakeholder tries to integrate a discourse on autonomous vehicles that allows them to change as little as possible their current tactics and strategies. The objective is to eventually make a comparison between three different cases: Paris, United Arab Emirates, and Bogota. We chose those territories because their contexts are very different, but they all have important interests in mobility and innovation, and they all have started to reflect on the subject of self-driving mobility. The main methodology used is to interview actors of the metropolitan area (local officials, leading urban and transport planners, influent experts, and private companies). This work is supplemented with conferences, official documents, press articles, and websites. The objective is to understand: 1) What they know about autonomous vehicles and where does their knowledge come from; 2) What they expect from autonomous vehicles; 3) How their ideas about autonomous vehicles are transforming their action and strategy in managing daily mobility, investing in transport, designing public spaces and urban planning. We are going to present the research and some preliminary results; we will show that autonomous vehicles are often viewed by public authorities as a lever to reach something else. We will also present that speeches are very influenced by local context (political, geographical, economic, etc.), creating an interesting balance between global and local influences. We will analyze the differences and similarities between the three cases and will try to understand which are the causes.

Keywords: autonomous vehicles, self-driving mobility, urban planning, urban mobility, transport, public policies

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Authors: Rong-Terng Juang

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Autonomous vehicles offer the possibility of significant benefits to social welfare. However, fully automated cars might not be going to happen in the near further. To speed the adoption of the self-driving technologies, many governments worldwide are passing laws requiring data recorders for the testing of autonomous vehicles. Currently, the self-driving vehicle, (e.g., shuttle bus) has to be monitored from a remote control center. When an autonomous vehicle encounters an unexpected driving environment, such as road construction or an obstruction, it should request assistance from a remote operator. Nevertheless, large amounts of data, including images, radar and lidar data, etc., have to be transmitted from the vehicle to the remote center. Therefore, this paper proposes a data compression method of in-vehicle networks for remote monitoring of autonomous vehicles. Firstly, the time-series data are rearranged into a multi-dimensional signal space. Upon the arrival, for controller area networks (CAN), the new data are mapped onto a time-data two-dimensional space associated with the specific CAN identity. Secondly, the data are sampled based on differential sampling. Finally, the whole set of data are encoded using existing algorithms such as Huffman, arithmetic and codebook encoding methods. To evaluate system performance, the proposed method was deployed on an in-house built autonomous vehicle. The testing results show that the amount of data can be reduced as much as 1/7 compared to the raw data.

Keywords: autonomous vehicle, data compression, remote monitoring, controller area networks (CAN), Lidar

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Authors: Raahil Sheikh, Abhishek Maurya, Priya Gujjar, Himanshu Dwivedi, Prathamesh Minde

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UAVs have been an initial member of our environment since it's the first used by Austrian warfare in Venice. At that stage, they were just pilotless balloons equipped with bombs to be dropped on enemy territory. Over time, technological advancements allowed UAVs to be controlled remotely or autonomously. This study shall mainly focus on the intensification of pre-existing manual drones equipping them with a variety of sensors and making them autonomous, and capable, and purposing them for a variety of roles, including thermal sensing, data collection, tracking creatures, forest fires, volcano detection, hydrothermal studies, urban heat, Island measurement, and other environmental research. The system can also be used for reconnaissance, research, 3D mapping, and search and rescue missions. This study mainly focuses on automating tedious tasks and reducing human errors as much as possible, reducing deployment time, and increasing the overall efficiency, efficacy, and reliability of the UAVs. Creation of a comprehensive Ground Control System UI (GCS) enabling less trained professionals to be able to use the UAV with maximum potency. With the inclusion of such an autonomous system, artificially intelligent paths and environmental gusts and concerns can be avoided.

Keywords: UAV, drone, autonomous system, thermal imaging

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Authors: Florin Leon

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This paper describes a simulator of traffic scenarios tailored to facilitate autonomous driving model training for urban environments. With the rising prominence of self-driving vehicles, the need for diverse datasets is very important. The proposed simulator provides a flexible framework that allows the generation of custom scenarios needed for the validation and enhancement of trajectory prediction algorithms. Its controlled yet dynamic environment addresses the challenges associated with real-world data acquisition and ensures adaptability to diverse driving scenarios. By providing an adaptable solution for scenario creation and algorithm testing, this tool proves to be a valuable resource for advancing autonomous driving technology that aims to ensure safe and efficient self-driving vehicles.

Keywords: autonomous driving, car simulator, machine learning, model training, urban simulation environment

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Authors: Ammar Younas

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This paper is an attempt to explore the legal progression in procedural laws related to “intellectual property protection for the autonomous output of artificial intelligence” in Post-Colonial, Post-Communist and Socialist Countries. An in-depth study of legal progression in Pakistan (Common Law), Uzbekistan (Post-Soviet Civil Law) and China (Socialist Law) has been conducted. A holistic attempt has been made to explore that how the ideological context of the legal systems can impact, not only on substantive components but on the procedural components of the formal laws related to IP Protection of autonomous output of Artificial Intelligence. Moreover, we have tried to shed a light on the prospective IP laws and AI Policy in the countries, which are planning to incorporate the concept of “Digital Personality” in their legal systems. This paper will also address the question: “How far IP of autonomous output of AI can be protected with the introduction of “Non-Human Legal Personality” in legislation?” By using the examples of China, Pakistan and Uzbekistan, a case has been built to highlight the legal progression in General Provisions of Civil Law, Artificial Intelligence Policy of the country and Intellectual Property laws. We have used a range of multi-disciplinary concepts and examined them on the bases of three criteria: accuracy of legal/philosophical presumption, applying to the real time situations and testing on rational falsification tests. It has been observed that the procedural laws are designed in a way that they can be seen correlating with the ideological contexts of these countries.

Keywords: intellectual property, artificial intelligence, digital personality, legal progression

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Authors: Dong-Keun Jeong, Jong-Hyun Kim, Woon-Ha Yoon, Hee-Je Kim

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In order to automatically operate the ultrasonic transducer drive system for sonicating aluminum, this paper proposes the ultrasonic transducer sensorless control algorithm. The resonance frequency shift and electrical impedance change is a common phenomenon in the state of the ultrasonic transducer. The proposed control algorithm make use of the impedance change of ultrasonic transducer according to the environment between air state and aluminum alloy state, it controls the ultrasonic transducer drive system autonomous without a sensor. The proposed sensorless autonomous ultrasonic transducer control algorithm was experimentally verified using a 3kW prototype ultrasonic transducer drive system.

Keywords: ultrasonic transducer drive system, impedance change, sensorless, autonomous control algorithm

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Authors: Changchun Liang, Xiaodong Zhang, Xin Liu, Pengfei Sun

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Space intelligent robotic systems are expected to play an increasingly important role in the future. The robotic on-orbital service, whose key is the tracking and capturing technology, becomes research hot in recent years. In this paper, the authors propose a vision servo control system for target capturing. Robotic manipulator will be an intelligent robotic system with large-scale movement, functional agility, and autonomous ability, and it can be operated by astronauts in the space station or be controlled by the ground operator in the remote operation mode. To realize the autonomous movement and capture mission of SRM, a kind of autonomous programming strategy based on multi-camera vision fusion is designed and the selection principle of object visual position and orientation measurement information is defined for the better precision. Distributed control system hierarchy is designed and reliability is considering to guarantee the abilities of control system. At last, a ground experiment system is set up based on the concept of robotic control system. With that, the autonomous target capturing experiments are conducted. The experiment results validate the proposed algorithm, and demonstrates that the control system can fulfill the needs of function, real-time and reliability.

Keywords: control system, on-orbital service, space robot, vision servo

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Authors: Caner Koc, Dilara Gerdan Koc, Emrah Saka, H. Ibrahim Karagol

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The use of pesticides in agricultural activities is the most harmful to the environment and farmers' health, and it also has the greatest input prices, along with fertilizers. In this study, an electric, electrostatically charged, autonomous agricultural robot was developed, modeled, and prototyped and manufactured. It allows for sensitive pesticide applications with variable levels, has controllable spray nozzles, and uses camera distance sensors to detect and spray into tree canopies. The created prototype was produced with flexibility in mind. Two stages of prototype manufacture were completed. The initial stage involved designing and producing the flexible primary body of the autonomous vehicle. Detachable hanger assemblies are employed so that the main body robot can perform a variety of agricultural tasks. The design of the spraying devices and their fitting to the autonomous vehicle was completed as the second stage of the prototype. The built prototype spraying robot's itinerary was planned using the free, open-source program Mission Planner. PX4, telemetry, and RTK GPS are used to maneuver the autonomous car along the designated path. To avoid potential obstructions, the robot uses ultrasonic and lidar sensors. The developed autonomous vehicle's energy needs are intended to be met entirely by electric batteries. In the event that the batteries run out of power, the sockets are set up to be recharged both by using the generator and the main power source through the specifically constructed panel.

Keywords: autonomous agricultural robot, pesticide, smart farming, spraying, variable rate application

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Authors: Nitish Suvarna, Anjali Awasthi

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In an era marked by rapid technological advancements, the integration of Autonomous Vehicles into supply chain networks represents a transformative shift, promising to redefine the paradigms of logistics and transportation. This thesis delves into a comprehensive assessment of the impact of autonomous vehicles on supply chain performance, with a particular focus on network design, operational efficiency, and environmental sustainability. Employing the advanced simulation capabilities of anyLogistix (ALX), the study constructs a digital twin of a conventional supply chain network, encompassing suppliers, production facilities, distribution centers, and customer endpoints. The research methodically integrates Autonomous Vehicles into this intricate network, aiming to unravel the multifaceted effects on transportation logistics including transit times, cost-efficiency, and sustainability. Through simulations and scenarios analysis, the study scrutinizes the operational resilience and adaptability of supply chains in the face of dynamic market conditions and disruptive technologies like Autonomous Vehicles. Furthermore, the thesis undertakes carbon footprint analysis, quantifying the environmental benefits and challenges associated with the adoption of Autonomous Vehicles in supply chain operations. The insights from this research are anticipated to offer a strategic framework for industry stakeholders, guiding the adoption of Autonomous Vehicles to foster a more efficient, responsive, and sustainable supply chain ecosystem. The findings aim to serve as a cornerstone for future research and practical implementations in the realm of intelligent transportation and supply chain management.

Keywords: autonomous vehicle, agri-food supply chain, ALX simulation, anyLogistix

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Authors: Ira Slabodar

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Autonomous learning in English as a Foreign Language (EFL) refers to the use of target language, learner collaboration and students’ responsibility for their learning. Teachers play a vital role of mediators and facilitators in self-regulated method. Thus, their perception of self-guided practices dictates their implementation of this approach. While research has predominantly focused on inadequate administration of autonomous learning in school mostly due to lack of appropriate teacher training, this study examined whether novice teachers who were exposed to extensive autonomous practices were likely to implement this method in their teaching. Twelve novice teachers were interviewed to examine their perception of learner autonomy and their administration of this method. It was found that three-thirds of the respondents experienced a gap between familiarity with autonomous learning and a favorable attitude to this approach and their deficient integration of self-directed learning. Although learner-related and institution-oriented factors played a role in this gap, it was mostly caused by the respondents’ not being genuinely autonomous. This may be due to indirect exposure rather than explicit introduction of the learner autonomy approach. The insights of this research may assist curriculum designers and heads of teacher training programs to rethink course composition to guarantee the transfer of methodologies into EFL classes.

Keywords: learner autonomy, teacher training, english as a foreign language (efl), genuinely autonomous teachers, explicit instruction, self-determination theory

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Authors: Gao Youtao, Zhao Tanran, Jin Bingyu, Xu Bo

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Global navigation satellite system(GNSS) can deliver navigation information for spacecraft orbiting on low-Earth orbits and medium Earth orbits. However, the GNSS cannot navigate the spacecraft on high-Earth orbit or deep space probes effectively. With the deep space exploration becoming a hot spot of aerospace, the demand for a deep space satellite navigation system is becoming increasingly prominent. Many researchers discussed the feasibility and performance of a satellite navigation system on periodic orbits around the Earth-Moon libration points which can be called Lagrangian point satellite navigation system. Autonomous orbit determination (AOD) is an important performance for the Lagrangian point satellite navigation system. With this ability, the Lagrangian point satellite navigation system can reduce the dependency on ground stations. AOD also can greatly reduce total system cost and assure mission continuity. As the elliptical restricted three-body problem can describe the Earth-Moon system more accurately than the circular restricted three-body problem, we study the autonomous orbit determination of Lagrangian navigation constellation using only crosslink range based on elliptical restricted three body problem. Extended Kalman filter is used in the autonomous orbit determination. In order to compare the autonomous orbit determination results based on elliptical restricted three-body problem to the results of autonomous orbit determination based on circular restricted three-body problem, we give the autonomous orbit determination position errors of a navigation constellation include four satellites based on the circular restricted three-body problem. The simulation result shows that the Lagrangian navigation constellation can achieve long-term precise autonomous orbit determination using only crosslink range. In addition, the type of the libration point orbit will influence the autonomous orbit determination accuracy.

Keywords: extended Kalman filter, autonomous orbit determination, quasi-periodic orbit, navigation constellation

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Authors: Emily J. Morey, Kevin Galvin, Thomas Riley, R. Eddie Wilson

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The key challenges faced by integrating autonomous rail operations into the existing mainline railway environment have been identified through the understanding and framing of the problem space and stakeholder analysis. This was achieved through the completion of the first four steps of Soft Systems Methodology, where the problem space has been expressed via conceptual models. Having identified these challenges, we investigated one of them, namely capacity, via the use of models and simulation. This paper examines the approach used to move from the conceptual models to a simulation which can determine whether the integration of autonomous trains can plausibly increase capacity. Within this approach, we developed an architecture and converted logical models into physical resource models and associated design features which were used to build a simulator. From this simulator, we are able to analyse mixtures of legacy-autonomous operations and produce fundamental diagrams and trajectory plots to describe the dynamic behaviour of mixed mainline railway operations.

Keywords: autonomy, executable architecture, modelling and simulation, railway capacity

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Authors: I. K. Sharma

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Over the years world over system are being developed by research labs continuously monitor under water parameters in the coastal waters of sea such as conductivity, salinity, pressure, temperature, chlorophyll and biological blooms at different levels of water column. The research institutions have developed profilers which are launched by ship connected through cable, glider type profilers following underwater trajectory, buoy any driven profilers, wire guided profilers etc. In all these years, the effect was to design autonomous profilers with no cable quality connection, simple operation and on line date transfer in terms accuracy, repeatability, reliability and consistency. Hence for the Ministry of Communication and Information Technology, India sponsored research project to National Institute of Oceanography, GOA, India to design and develop autonomous vertical profilers, it has taken system and AVP has been successfully developed and tested.

Keywords: oceanography, water column, autonomous profiler, buoyancy

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Authors: Zulkifli Zainal Abidin, Ahmad Shahril Mohd Ghani

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Agent-based systems technology has been addressed as a new paradigm for conceptualizing, designing, and implementing software systems. Agents are sophisticated systems that act autonomously across open and distributed environments in solving problems. Nevertheless, it is impractical to rely on a single agent to do all computing processes in solving complex problems. An increasing number of applications lately require multiple agents to work together. A multi-agent system (MAS) is a loosely coupled network of agents that interact to solve problems that are beyond the individual capacities or knowledge of each problem solver. However, the network of MAS still requires a main system to govern or oversees the operation of the agents in order to achieve a unified goal. We had developed a fleet management system (FMS) in order to manage the fleet of agents, plan route for the agents, perform real-time data processing and analysis, and issue sets of general and specific instructions to the agents. This FMS should be able to perform real-time data processing, communicate with the autonomous surface vehicle (ASV) agents and generate bathymetric map according to the data received from each ASV unit. The first algorithm is developed to communicate with the ASV via radio communication using standard National Marine Electronics Association (NMEA) protocol sentences. Next, the second algorithm will take care of the path planning, formation and pattern generation is tested using various sample data. Lastly, the bathymetry map generation algorithm will make use of data collected by the agents to create bathymetry map in real-time. The outcome of this research is expected can be applied on various other multi-agent systems.

Keywords: autonomous surface vehicle, fleet management system, multi agent system, bathymetry

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Authors: Anil Ranjitbhai Patel, Clement John Shaji, Peter Liggesmeyer

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Safety and security of autonomous vehicles (AVs) is a growing concern, first, due to the increased number of safety-critical functions taken over by automotive embedded systems; second, due to the increased exposure of the software-intensive systems to potential attackers; third, due to dynamic interaction in an uncertain and unknown environment at runtime which results in changed functional and non-functional properties of the system. Frequently occurring environmental uncertainties, random component failures, and compromise security of the AVs might result in hazardous events, sometimes even in an accident, if left undetected. Beyond these technical issues, we argue that the safety and security of AVs against accidental and deliberate faults are poorly understood and rarely implemented. One possible way to overcome this is through a well-known diversity approach. As an effective approach to increase safety and security, diversity has been widely used in the aviation, railway, and aerospace industries. Thus, the paper proposes fault-tolerance by diversity model takes into consideration the mitigation of accidental and deliberate faults by application of structure and variant redundancy. The model can be used to design the AVs with various types of diversity in hardware and software-based multi-version system. The paper evaluates the presented approach by employing an example from adaptive cruise control, followed by discussing the case study with initial findings.

Keywords: autonomous vehicles, diversity, fault-tolerance, adaptive cruise control, safety, security

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Authors: S. M. Yasir Arafat

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Driving models are needed by many researchers to improve traffic safety and to advance autonomous vehicle design. To be most useful, a driving model must state specifically what information is needed and how it is processed. So we developed an “Obstacle Avoidance and Detection Autonomous Car” based on sensor application. The ever increasing technological demands of today call for very complex systems, which in turn require highly sophisticated controllers to ensure that high performance can be achieved and maintained under adverse conditions. Based on a developed model of brakes operation, the controller of braking system operation has been designed. It has a task to enable solution to the problem of the better controlling of braking system operation in a more accurate way then it was the case now a day.

Keywords: automobile, obstacle, safety, sensing

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Authors: Youtao Gao, Bingyu Jin, Tanran Zhao, Bo Xu

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The history of satellite navigation can be dated back to the 1960s. From the U.S. Transit system and the Russian Tsikada system to the modern Global Positioning System (GPS) and the Globalnaya Navigatsionnaya Sputnikovaya Sistema (GLONASS), performance of satellite navigation has been greatly improved. Nowadays, the navigation accuracy and coverage of these existing systems have already fully fulfilled the requirement of near-Earth users, but these systems are still beyond the reach of deep space targets. Due to the renewed interest in space exploration, a novel high-precision satellite navigation system is becoming even more important. The increasing demand for such a deep space navigation system has contributed to the emergence of a variety of new constellation architectures, such as the Lunar Global Positioning System. Apart from a Walker constellation which is similar to the one adopted by GPS on Earth, a novel constellation architecture which consists of libration point satellites in the Earth-Moon system is also available to construct the lunar navigation system, which can be called accordingly, the libration point satellite navigation system. The concept of using Earth-Moon libration point satellites for lunar navigation was first proposed by Farquhar and then followed by many other researchers. Moreover, due to the special characteristics of Libration point orbits, an autonomous orbit determination technique, which is called ‘Liaison navigation’, can be adopted by the libration point satellites. Using only scalar satellite-to-satellite tracking data, both the orbits of the user and libration point satellites can be determined autonomously. In this way, the extensive Earth-based tracking measurement can be eliminated, and an autonomous satellite navigation system can be developed for future space exploration missions. The method of state estimate is an unnegligible factor which impacts on the orbit determination accuracy besides type of orbit, initial state accuracy and measurement accuracy. We apply the extended Kalman filter(EKF) and the unscented Kalman filter(UKF) to determinate the orbits of Lagrangian navigation satellites. The autonomous orbit determination errors are compared. The simulation results illustrate that UKF can improve the accuracy and z-axis convergence to some extent.

Keywords: extended Kalman filter, autonomous orbit determination, unscented Kalman filter, navigation constellation

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Authors: Mishu Gupta, Rama Gupta

Abstract:

It has been elucidated here that non- autonomous discrete non-linear Schrödinger equation is associated with saturable non-linearity through photo-refractive media. We have investigated the localized solution of non-autonomous saturable discrete non-linear Schrödinger equations. The similarity transformation has been involved in converting non-autonomous saturable discrete non-linear Schrödinger equation to constant-coefficient saturable discrete non-linear Schrödinger equation (SDNLSE), whose exact solution is already known. By back substitution, the solution of the non-autonomous version has been obtained. We have analysed our solution for the hyperbolic and periodic form of gain/loss term, and interesting results have been obtained. The most important characteristic role is that it helps us to analyse the propagation of electromagnetic waves in glass fibres and other optical wave mediums. Also, the usage of SDNLSE has been seen in tight binding for Bose-Einstein condensates in optical mediums. Even the solutions are interrelated, and its properties are prominently used in various physical aspects like optical waveguides, Bose-Einstein (B-E) condensates in optical mediums, Non-linear optics in photonic crystals, and non-linear kerr–type non-linearity effect and photo refracting medium.

Keywords: B-E-Bose-Einstein, DNLSE-Discrete non linear schrodinger equation, NLSE-non linear schrodinger equation, SDNLSE - saturable discrete non linear Schrodinger equation

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Authors: Alaa El-Din Rezk

Abstract:

In Egypt, management of crops still away from what is being used today by utilizing the advances of mechanical design capabilities, sensing and electronics technology. These technologies have been introduced in many places and recorm, for Straight Path, Curved Path, Sine Wave ded high accuracy in different field operations. So, an autonomous robotic platform based on machine vision has been developed and constructed to be implemented in Egyptian conditions as self-propelled mobile vehicle for carrying tools for inter/intra-row crop management based on different control modules. The experiments were carried out at plant protection research institute (PPRI) during 2014-2015 to optimize the accuracy of agricultural robotic platform control using machine vision in term of the autonomous navigation and performance of the robot’s guidance system. Results showed that the robotic platform' guidance system with machine vision was able to adequately distinguish the path and resisted image noise and did better than human operators for getting less lateral offset error. The average error of autonomous was 2.75, 19.33, 21.22, 34.18, and 16.69 mm. while the human operator was 32.70, 4.85, 7.85, 38.35 and 14.75 mm Path, Offset Discontinuity and Angle Discontinuity respectively.

Keywords: autonomous robotic, Hough transform, image processing, machine vision

Procedia PDF Downloads 315

Authors: Andreas D. Jansson

Abstract:

The availability of inexpensive, yet competent hardware allows for increased level of automation and self-optimization in the context of Industry 4.0. However, such agents require high quality information about their surroundings along with a robust strategy for collision avoidance, as they may cause expensive damage to equipment or other agents otherwise. Manually defining a strategy to cover all possibilities is both time-consuming and counter-productive given the capabilities of modern hardware. This paper explores the idea of a model-free self-optimizing obstacle avoidance strategy for multiple autonomous agents in a simulated dynamic environment using the Q-learning algorithm.

Keywords: autonomous vehicles, industry 4.0, multi-agent system, obstacle avoidance, Q-learning, simulation

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Authors: Lucjan Setlak, Emil Ruda

Abstract:

The subject of this paper is to review, comparative analysis and simulation of selected components of power electronic systems (PES), consistent with the concept of a more electric aircraft (MEA). Comparative analysis and simulation in software environment MATLAB / Simulink were carried out based on a group of representatives of civil aircraft (B-787, A-380) and military (F-22 Raptor, F-35) in the context of multi-pulse converters used in them (6- and 12-pulse, and 18- and 24-pulse), which are key components of high-tech electronics on-board power systems of autonomous power systems (ASE) of modern aircraft (airplanes of the future).

Keywords: converters, electric machines, MEA (more electric aircraft), PES (power electronics systems)

Procedia PDF Downloads 494