Dissertations / Theses: 'Autonomous infrastructure'

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Rajapakshalage, D. (Dhanushka). "Infrastructure based communication architecture to facilitate autonomous driving and communications." Master's thesis, University of Oulu, 2019. http://jultika.oulu.fi/Record/nbnfioulu-201909242926.

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Abstract. The traditional autonomous vehicle (AV) architecture places a heavy burden on graphics processing units of the vehicle due to heavy signal processing requirements. Ultimately this results in performance degradation in AVs. This is mainly due to advanced sensors, which enable the vision for AVs, like Light Detection and Ranging (LiDAR), radars and cameras. In most of the AV models accepted by many leading automobile companies, LiDAR plays a significant role. It generates a high definition (HD) point cloud of the surroundings to obtain a precise map. AV makes decisions based on that by processing Terabyte (Tb) scale data within the AV. Still, vehicle-mounted LiDARs are not capable of providing information beyond a human driver’s vision. To provide a solution for the above-mentioned drawbacks of the traditional AVs, we propose an infrastructure based communication architecture to facilitate autonomous driving and communications. A set of coordinated LiDAR modules with integrated transceivers, which are mounted at an elevation with a bird’s eye view, can provide a much larger field of vision (FoV). Decisions are taken from a centralized body. We prove the technical feasibility of the system from sensing and communication point of view. The proposed architecture can play a supportive role with traditional AV architectures and it can be applied to many cases such as to automate harbours and factory floors. In the second part of the thesis, we address a resource allocation problem with ultra-reliable and low latency communication (URLLC) for a factory floor. We have analytically proven the capability of the proposed system to establish a reliable (packet error probability less than 10^(-5)) and low latency (less than 1 ms transmission delay) links with sufficient throughput (kilobit scale) using a convex optimization problem. Latency, throughput and reliability variations are studied under the short packet transmission of the proposed system.

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Lakew, Ewnetu Bayuh. "Autonomous cloud resource provisioning : accounting, allocation, and performance control." Doctoral thesis, Umeå universitet, Institutionen för datavetenskap, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-107955.

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The emergence of large-scale Internet services coupled with the evolution of computing technologies such as distributed systems, parallel computing, utility computing, grid, and virtualization has fueled a movement toward a new resource provisioning paradigm called cloud computing. The main appeal of cloud computing lies in its ability to provide a shared pool of infinitely scalable computing resources for cloud services, which can be quickly provisioned and released on-demand with minimal effort. The rapidly growing interest in cloud computing from both the public and industry together with the rapid expansion in scale and complexity of cloud computing resources and the services hosted on them have made monitoring, controlling, and provisioning cloud computing resources at runtime into a very challenging and complex task. This thesis investigates algorithms, models and techniques for autonomously monitoring, controlling, and provisioning the various resources required to meet services’ performance requirements and account for their resource usage. Quota management mechanisms are essential for controlling distributed shared resources so that services do not exceed their allocated or paid-for budget. Appropriate cloud-wide monitoring and controlling of quotas must be exercised to avoid over- or under-provisioning of resources. To this end, this thesis presents new distributed algorithms that efficiently manage quotas for services running across distributed nodes. Determining the optimal amount of resources to meet services’ performance requirements is a key task in cloud computing. However, this task is extremely challenging due to multi-faceted issues such as the dynamic nature of cloud environments, the need for supporting heterogeneous services with different performance requirements, the unpredictable nature of services’ workloads, the non-triviality of mapping performance measurements into resources, and resource shortages. Models and techniques that can predict the optimal amount of resources needed to meet service performance requirements at runtime irrespective of variations in workloads are proposed. Moreover, different service differentiation schemes are proposed for managing temporary resource shortages due to, e.g., flash crowds or hardware failures. In addition, the resources used by services must be accounted for in order to properly bill customers. Thus, monitoring data for running services should be collected and aggregated to maintain a single global state of the system that can be used to generate a single bill for each customer. However, collecting and aggregating such data across geographical distributed locations is challenging because the management task itself may consume significant computing and network resources unless done with care. A consistency and synchronization mechanism that can alleviate this task is proposed.

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Leiman, James. "Optimizing Transportation Infrastructure and Global Supply Chain Integration for Nicaragua’s Autonomous Caribbean Regions through Network Modernization." Diss., North Dakota State University, 2019. https://hdl.handle.net/10365/29396.

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The autonomous regions of the Nicaraguan Caribbean Coast are resource rich, yet they are among the poorest regions of Latin America. To realize economic growth and potential, this research examined Nicaragua’s primary-sector economic activities and developed a transportation network that would enable the creation of a functional logistics network, therefore enabling integration into the global supply chain for timber, beef, seafood, and light manufactured goods. The main goal of this research is to determine the minimum cost of developing a multimodal transportation network in the region by using roads, rail, intracoastal waterways, and Caribbean Sea transport. In addition to the initial construction costs, a 50-year horizon was evaluated, including operation and maintenance expenses for all possible modes as well as the cost to move all goods from point to point within the network using various options per Ton-kilometer. Several sensitivities were also run using Excel Solver in order to determine what triggers would alter the network’s construction and operation plan for each transportation arc. In the aggregate, the least-expensive option, to include deployment of rail, road, and intracoastal waterway use, costs $861,419,624.87 over a 50-year period. This cost captured the initial construction expenses, operation and maintenance estimates, and the rate to move goods across the network; the best-case scenario enabled construction over a 5-year period. More expensive options for the network’s construction and operation/movement of goods are more likely given the region’s inefficiencies. This research will be given to the Nicaraguan Department of Transportation with the hope that the findings may be used to orchestrate economic and community development in the region.

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Månsson, Jimmy, Anton Roskvist, and Filip Roskvist. "Autonomous networks without the need for infrastructure : A study of zero configuration mesh networks in Linux environments." Thesis, Linnéuniversitetet, Institutionen för datavetenskap (DV), 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:lnu:diva-35687.

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Autonomous Mesh Networks potentially allows for cheaper networks, of use for impoverished areas with poor infrastructure and little interest from service providers for expansion. The subject of wireless mesh networks is interesting for several reasons. Non-reliance, or at the very least reduced reliance on existing infrastructure and service providers gives more control of a network to the users and their communities. These kinds of networks are however conceived to be quite complex to set up, manage and maintain. The goal of this paper was to create an autonomous network without any need for infrastructure, that was relatively easy to configure, use, and performs well. The implementation technique used succeeds at reaching these goals. The script and environment that was constructed makes it easy to set up and join nodes into the network, and the network can increase and decrease in size without affecting the core functionality of the network. The implementation for automatic host discovery makes it simple for anyone with a small amount of knowledge to find and communicate with other hosts, and the network has proven to be resilient to some common ways of tampering.

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Nicolaides, Doros. "Power infrastructure requirements for road transport electrification." Thesis, University of Cambridge, 2018. https://www.repository.cam.ac.uk/handle/1810/280689.

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Deep decarbonisation of road transportation is challenging. One of the most potentially beneficial approaches is electrification which is the subject of this PhD thesis. A widespread penetration of electric vehicles (EVs) across a large proportion of road transport demand is needed to realise the benefits of an electrified transport sector. However, this is dependent on overcoming significant barriers. This study performs a systematic analysis of how proven power charging technologies could be used to unlock the barriers to widespread electrification of road transportation. Various road transport sectors and type of journeys are explored including aspects of autonomous operations and novel wireless power transfer technologies. For each operation, a framework is proposed that allows the exploitation of current and potential future electrification technologies to enable shifting towards EVs. Based on that, simulation tools and methods are developed to calculate the power requirements of EVs and determine a suitable charging infrastructure. The additional power demand, electric load and the implications for the electricity supply network are explored. The total expenditure needed and the CO2 emission savings are also calculated for each investigated operation. Transitional strategies include the electrification of bus routes, refuse collection functions, home deliveries and aspects of autonomous operations for public transportation within the boundaries of the cities. In the long-term, focus is given on passenger cars and freight vehicles for both urban and inter-urban journeys. A nationwide adoption of all electrification strategies proposed in this thesis would increase the peak power demand of Great Britain by approximately 38 GW (72% of the current peak) and the electricity consumption by 180 TWh per year (45% of current consumption). The total capital cost required is calculated at £225 billion which is similar to the cost of other large infrastructure projects of the country. The impact would be a significant aggregate saving of approximately 2,000 MtCO2 between the numbers calculated for today's norms (2018) and those calculated for 2050.

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SHEIKH, MADELEINE, and ALEXANDER ÖRTENGREN. "UAVs for railway infrastructure operations and maintenance activities." Thesis, KTH, Maskinkonstruktion (Inst.), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-244316.

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The railway infrastructure needs to be safe, reliable and efficient in order to meet the growing demand of sustainable transportation methods. One of the main problems the railway industry faces today is that a higher traffic load increases the need for maintenance, at the same time as it reduces the availability of gaps in the timetables to perform maintenance activities. Unmanned Aerial Vehicles, UAVs, have in recent years been adopted commercially due to their potential of increasing work efficiency and productivity. Different actors in the railway industry have recently started to explore and test the possibilities of implementing UAVs. The objective of this master thesis was to investigate and define use case scenarios where the use of UAVs would create value for railway infrastructure operations and maintenance activities. It is meant for both stakeholders in the railway industry to gain better understanding of capabilities and limitations of UAV technology but also provide recommendations to UAV manufacturers to understand the railway industry and potential UAV applications. Theoretical research and qualitative user studies with UAV professionals and relevant stakeholders within the railway industry were conducted in order to gain insight in the railway industry and to identify potential use case scenarios. The research showed that maintenance activities to a large extent are performed either manually by walking along the tracks which is inefficient, physically demanding and dangerous or by using test/measurement vehicles which require track occupancy. It was concluded that the use of UAVs would mainly create value by; enabling remote inspection and operation, accessing the infrastructure without track occupancy or the need of roads. At the same time, improve the working conditions, efficiency and quality of maintenance activities. The thesis resulted in 15 potential use case scenarios for UAVs in the railway industry and proposals for common UAV solutions based on functional requirements.
Järnvägssystemet måste vara säkert, pålitligt och effektivt för att möta den växande efterfrågan på hållbara transportmetoder. Ett av de största problemen som den svenska järnvägsindustrin står inför idag är att ökad trafikbelastning ökar behovet av underhåll, samtidigt som det minskar tillgängligheten för att utföra underhållsaktiviteter. Obemannade flygfordon, även kallade drönare, har under de senaste åren tillämpats mer frekvent i kommersiella syften för att bland annat uppnå ökad effektivitet och produktivitet. Aktörer inom järnvägsindustrin har nyligen börjat utforska och testa möjligheterna att använda drönare. Syftet med detta examensarbete var att undersöka och definiera potentiella tillämpningar av drönare med syfte att skapa värde för drift- och underhållsarbete inom järnvägen. Denna rapport är avsedd för intressenter inom järnvägsindustrin att få bättre förståelse för kapaciteten och begränsningar av drönarteknik samt ge rekommendationer till drönartillverkare för att bättre förstå järnvägsindustrin och potentiella användningsområden. Teoretisk undersökning och kvalitativa användarstudier med drönarexperter och relevanta intressenter inom järnvägsindustrin genomfördes för att få insikt i järnvägsindustrin samt för att identifiera problemområden. Studien visade att underhållsverksamheten i stor utsträckning utförs antingen manuellt genom att gå längs spåren vilket är ineffektivt, fysiskt krävande och farligt eller genom att använda test/mätfordon som kräver tillgång till spår. Arbetet resulterade i 15 potentiella tillämpningar av drönare i järnvägsindustrin samt förslag på gemensamma drönarlösningar baserade på funktionella krav. Slutsatsen drogs att tillämpningen av drönare i järnvägsindustrin främst kan skapa värde genom att; på distans utföra underhållsaktiviteter och inspektioner, få tillgång till infrastrukturen utan behov av spår eller vägar. Detta resulterar i förbättrade arbetsförhållanden samt ökad effektivitet och kvalitet på underhållsarbetet.

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Antunes, João Pedro Dias. "Design and implementation of an autonomous, proactive, and reactive software infrastructure to help improving the management level of projects." Master's thesis, Faculdade de Ciências e Tecnologia, 2010. http://hdl.handle.net/10362/4115.

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Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Engenharia Electrotécnica e de Computadores
Over the years, collaboration between humans and organizations have been increasing and becoming vital to face new challenges and achieve the greatest common goals. The development of new technologies and internet capabilities promoted the emergence of new collaboration types, i.e., collaboration using software connected through internet (Collaborative Workspaces software). The use of the internet amplifies the range of action and the speed of communication among the actors involved in a collaboration. The collaboration amongst organizations is project-oriented (the common goal is to deal with projects) where several actors involved in the collaboration share their knowledge with each other. These actors are, indeed, the knowledge holders and the system which supports the collaboration has to collect and assess the knowledge from them. For this reason, this thesis aims to design and implement a software infrastructure to capture and capitalize the knowledge created over several projects. Such software is human-centered and has an autonomous, proactive and reactive behaviour to handle all users‟ needs. This software promotes its own continuous learning by analysing humans‟ behaviour over several projects, extracting information from that behaviour, and having Context-awareness. Additionally, it relies on Data mining technologies and semantic services, in order to provide a continuous monitoring of the whole project during its life cycle. The software developed is called “Companion” and has been assessed as a part of the CoSpaces Integrated Project.

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Smith, Evan McLean. "A Collection of Computer Vision Algorithms Capable of Detecting Linear Infrastructure for the Purpose of UAV Control." Thesis, Virginia Tech, 2016. http://hdl.handle.net/10919/81448.

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One of the major application areas for UAVs is the automated traversing and inspection of infrastructure. Much of this infrastructure is linear, such as roads, pipelines, rivers, and railroads. Rather than hard coding all of the GPS coordinates along these linear components into a flight plan for the UAV to follow, one could take advantage of computer vision and machine learning techniques to detect and travel along them. With regards to roads and railroads, two separate algorithms were developed to detect the angle and distance offset of the UAV from these linear infrastructure components to serve as control inputs for a flight controller. The road algorithm relied on applying a Gaussian SVM to segment road pixels from rural farmland using color plane and texture data. This resulted in a classification accuracy of 96.6% across a 62 image dataset collected at Kentland Farm. A trajectory can then be generated by fitting the classified road pixels to polynomial curves. These trajectories can even be used to take specific turns at intersections based on a user defined turn direction and have been proven through hardware-in-the-loop simulation to produce a mean cross track error of only one road width. The combined segmentation and trajectory algorithm was then implemented on a PC (i7-4720HQ 2.6 GHz, 16 GB RAM) at 6.25 Hz and a myRIO 1900 at 1.5 Hz proving its capability for real time UAV control. As for the railroad algorithm, template matching was first used to detect railroad patterns. Upon detection, a region of interest around the matched pattern was used to guide a custom edge detector and Hough transform to detect the straight lines on the rails. This algorithm has been shown to detect rails correctly, and thus the angle and distance offset error, on all images related to the railroad pattern template and can run at 10 Hz on the aforementioned PC.
Master of Science

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Schmidt, Kelsey L. "Autonomous Vehicles: changing the surface landscape of communities through increased green infrastructure adoption and implementation to help US cities combat stormwater runoff." University of Cincinnati / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1522341355106885.

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Wiegand, Gesa [Verfasser], and Heinrich [Akademischer Betreuer] Hußmann. "Exploration of smart infrastructure for drivers of autonomous vehicles : design space, out-of-view visualization and explanations / Gesa Wiegand ; Betreuer: Heinrich Hußmann." München : Universitätsbibliothek der Ludwig-Maximilians-Universität, 2020. http://d-nb.info/1222436671/34.

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Nguyen, Van Te Ron [Verfasser], Stephan [Akademischer Betreuer] Freudenstein, Yiik Diew [Gutachter] Wong, and Stephan [Gutachter] Freudenstein. "Road Infrastructure Design towards Passenger Ride Comfort for Autonomous Public Transport / Te Ron Nguyen Van ; Gutachter: Yiik Diew Wong, Stephan Freudenstein ; Betreuer: Stephan Freudenstein." München : Universitätsbibliothek der TU München, 2020. http://d-nb.info/1224313259/34.

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Abraham, Johannes, and Robin Romano. "Automatisk kvalitetssäkring av information för järnvägsanläggningar : Automatic quality assurance of information for railway infrastructure." Thesis, KTH, Hälsoinformatik och logistik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-252832.

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Järnvägsbranschen står i dagsläget inför stora utmaningar med planerade infrastrukturprojekt och underhåll av befintlig järnväg. Med ökade förväntningar på utbyggnaden av den framtida järnvägen, medför det en ökad risk för belastning på det nuvarande nätet. Baksidan av utbyggnaden kan bli fler inställda resor och förseningar. Genom att dra nytta av tekniska innovationer såsom digitalisering och automatisering kan det befintliga system och arbetsprocesser utvecklas för en effektivare hantering. Trafikverket ställer krav på Byggnadsinformationsmodeller (BIM) i upphandlingar. Projektering för signalanläggningar sker hos Sweco med CAD-programmet Promis.e. Från programmet kan Baninformationslistor (BIS-listor) innehållande information om objekts attribut hämtas. Trafikverket ställer krav på att attributen ska bestå av ett visst format eller ha specifika värden. I detta examensarbete undersöks metoder för att automatisk verifiera ifall objekt har tillåtna värden från projekteringsverktyget samt implementering av en metod. Undersökta metoder innefattar kalkyleringsprogrammet Excel, frågespråket Structured Query Language (SQL) och processen Extract, Transform and Load (ETL). Efter analys av metoder valdes processen ETL. Resultatet blev att ett program skapades för att automatiskt välja vilken typ av BIS-lista som skulle granskas och för att verifiera om attributen innehöll tillåtna värden. För att undersöka om kostnaden för programmen skulle gynna företaget utöver kvalitetssäkringen utfördes en ekonomisk analys. Enligt beräkningarna kunde valet av att automatisera granskningen även motiveras ur ett ekonomiskt perspektiv.
With increased expectations for the expansion of the future railway, this entails an increased load on the current railway network. The result of the expansion can be an increasing number of cancellations and delays. By taking advantage of technological innovations such as digitalization and automation, the existing system and work processes can be developed for more efficient management. The Swedish Transport Administration sets requirements for Building Information Modeling (BIM) in procurements. The planning of signal installations within the railway takes place in Sweco using the CAD program Promis.e. From the program, lists containing the information of the objects (BIS-lists) can be retrieved. The Swedish Transport Administration requires that the attributes must consist of a certain format or have specific values. In this thesis project, methods for automatic quality assurance of infrastructure information and the implementation of the method for rail projects were examined. The investigated methods include the calculation program Excel, the query programming language SQL and the process of ETL. After analyzing the methods, the ETL process was chosen. The result was that a program was created to automatically select the type of BIS list that would be reviewed and to verify that the examined attributes contained allowed values. In order to investigate whether the cost of the programs would benefit the company in addition to the quality assurance, an economic analysis was carried out. According to the calculations, the choice of method could also be justified from an economic perspective.

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Tomar, Abhineet Singh. "Modern Electrical/Electronic Infrastructure for Commercial Trucks : Generic Input/Output nodes for sensors and actuators in Commercial Trucks." Thesis, KTH, Radio Systems Laboratory (RS Lab), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-220183.

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The presence of electrical and electronic circuits in commercial trucks has increased at a very fast rate during recent decades. With advancements in embedded systems and the introduction of electric controls in the automotive industry, the design of complex electric systems for the vehicles has become one of the major design challenges. In the commercial truck industry, the development cycles are almost a decade long. Therefore, it is a big challenge to introduce a new architecture to accommodate the modern automotive technologies in the upcoming generation of trucks. Currently, the commercial truck industry relies highly on a federated electrical/electronic (E/E) architecture. In this architecture, Electronic Control Units (ECU) are responsible for computation and Input/Output operations. These ECUs are clustered into different domains based on their respective functions. However, these domains are not isolated from each other. These modules communicate with each other using a vehicular network, which is typically a controller area network in the current trucks. In the automotive industry, automation is increasing at a fast pace. As the level of automation increases, the need for high computation also increases, which increases the overall costs. This study aims to address this problem by introducing an integrated E/E architecture where all the computational power is concentrated at one place (or perhaps two or three places to allow for redundancy). This study proposes to introduce a lowcost replacement for the current ECUs with more limited computational power but with generic input/output interfaces. This thesis provides the reader with some background of the current E/E architecture of commercial trucks and introduces the reader to ECUs. Additionally, the relevant network architectures and protocols are explained. A potential solution, based upon the centralized computation based E/E architecture and its implementation are discussed followed by a detailed analysis of the replacements for ECUs. The result of this analysis, if adopted, should result in a reduction of manufacturing and design costs, as well as make the production and maintenance process easier. Moreover, this should also have environmental benefits by reducing fuel consumption.
Förekomsten av elektronik och elektriska kretsar I kommersiella lastbilar has ökat i en väldigt snabb takt under de senaste decennierna. Med framsteg inom inbyggda system och introduktionen av elektroniska styrsystem i fordonsindustrin så har komplexa elektroniska system blivit en av de största designutmaningarna. I den kommersiella lastbilsindustrin där utvecklingscyklerna är nästan ett decennium, är det en stor utmaning att introducera ny arkitektur som tillgodoser all den nya teknologin som införlivas i fordonet. För närvarande så förlitar sig den kommersiella lastbilsindustrin mycket på en federated elektrisk/elektronisk (E/E) arkitektur. I denna arkitektur är elektroniska styrenheter (ECU) ansvariga för beräkningar och I/O (Input/Output) operationer. Dessa ECU:er är samlade i olika domäner baserade på dess funktioner. Domänerna är dock inte isolerade från varandra. De här modulerna kommunicerar därför med varandra med hjälp av ett fordonsnätverk, typiskt en CAN (Controller Area Network) i nuvarande lastbilar. I fordonsindustrin ökar automatiseringen i en snabb fart. I takt med att automatiseringen ökar så ökar även behovet av snabba och energiintensiva beräkningar, vilket i sin tur ökar den totala kostnaden. Denna studie har som mål att adressera det här problemet genom att introducera en integrated E/E arkitektur där all beräkningskraft är koncentrerad till en plats (eller två eller tre platser för att tillåta överskott). Den här studien föreslår att introducera en ersättning av nuvarande ECU:er till en låg kostnad, med lägre beräkningskraft och generiska I/O gränssnitt. Studien föreslår också ersättningar av nuvarande fordonsnätverk. Den här uppsatsen förser läsaren med viss bakgrund till den nuvarande E/E arkitekturen för kommersiella lastbilar och introducerar läsaren till ECU:er. Dessutom förklaras de relevanta nätverksarkitekturerna och protokollen. En potentiell lösning som baseras på den integrated E/E arkitekturen och dess implementering diskuteras med fokus på en detaljerad analys av ersättningarna till ECU:er. Resultatet av den här analysen skulle, om den adopteras, medföra minskning av tillverknings- och designkostnader samt leda till en förenkling av produktion och underhåll. Utöver det så bör det även ha miljöfördelar genom minskad bränsleförbrukning.

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Umberger, Reilly Jackson. "Who Will Be the First to Buy Autonomous Vehicles? An Application of Everett Rogers’ Diffusion of Innovations Theory." Scholarship @ Claremont, 2016. http://scholarship.claremont.edu/cmc_theses/1267.

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Autonomous, otherwise known as self-driving, vehicles represent the future of transportation. Vehicles that drive themselves offer far reaching benefits from increased leisure and productivity for individuals to significant improvements in congestion and infrastructure for governments. The autonomous car will radically change the way we look at transportation, and they are right around the corner. However, the question remains: are we ready? Are we, as a society, ready to hand over the steering the wheel and trust autonomous vehicles with our safety? This paper predicts how the autonomous car will spread through society by analyzing and applying the product qualities and consumer types described in Everett Rogers’ Diffusion of Innovations Theory. Corporations, specifically Uber and Amazon, as opposed to individual consumers, will be the first to adapt, purchase and implement autonomous vehicles. Contrary to popular belief, these vehicles will not be successfully introduced as privately owned vehicles, and therefore, must be marketed towards corporations and organizations.

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Yan, Fei. "Contribution à la modélisation et à la régulation du trafic aux intersections : intégration des communications Vehicule-Infrastructure." Phd thesis, Université de Technologie de Belfort-Montbeliard, 2012. http://tel.archives-ouvertes.fr/tel-00720641.

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Dans ce mémoire de thèse, nous avons étudié le problème de régulation du trafic en considérant les nouvelles technologies dans le cadre des Systèmes de Transport Intelligent (STI). Une nouvelle stratégie de contrôle est introduite afin d'exploiter le potentiel des infrastructures de la circulation à un niveau maximum. Plus précisément, basée sur la technologie VII " Intégration Véhicule-Infrastructure ", l'infrastructure routière aux carrefours (considérée aussi comme contrôleur) peut communiquer avec les véhicules autonomes qui arrivent à un carrefour de manière continue. Les données importantes sur les véhicules telles que la vitesse, la position et la destination sont alors reçues par des capteurs avancés et envoyées au contrôleur en temps réel. Par conséquent, il est possible d'élaborer une stratégie de contrôle du trafic en considérant chaque véhicule comme une entité indépendante. En d'autres termes, le droit de passage est attribué à chaque véhicule en fonction de son état et en fonction de l'état global du trafic au carrefour. Seuls les véhicules qui ont reçu le droit de passage peuvent traverser le carrefour. Le contrôle du trafic au niveau d'un carrefour vise donc à déterminer les séquences de passage des véhicules, c'est-à-dire les séquences de distribution des droits de passage.Cependant, la plus grande difficulté pour appliquer cette nouvelle stratégie est la contradiction entre l'optimisation des séquences de passages des véhicules et la complexité temporelle. Pour résoudre cette contradiction, nous avons d'abord formulé mathématiquement la problématique de régulation et nous avons ensuite étudié sa complexité. Nous avons prouvé dans un premier temps que le problème de régulation du trafic formulé à l'intersection isolée est NP-hard sous certaines conditions (nombre arbitraire de groupes de flux compatibles GFC,...) et ceci en se basant sur la réduction au problème de 3-Partition. Dans un deuxième temps, nous avons appliqué les méthodes de résolutions exactes sur un carrefour isolé pour proposer des algorithmes exacts (Branch and Bound et Programmation dynamique) permettant de trouver une séquence de passage optimale. Plusieurs propriétés du problème ont été introduites et prouvées et ceci afin qu'elles soient exploitées par ces algorithmes. Ces propriétés ont pour objectif de réduire considérablement l'espace de recherche et par conséquent le temps d'exécution de ces algorithmes exacts.Par ailleurs, nous n'avons pas limité nos recherches sur des carrefours isolées mais nous avons appliqué l'approche de contrôle proposée sur un réseau de carrefours tout en considérant un seul contrôleur. Cependant, un algorithme exact appliqué sur plusieurs carrefours ne peut pas être assez rapide surtout lorsqu'on a besoin de communiquer presque instantanément des informations aux véhicules (en temps réel). Nous avons proposé donc des méthodes de résolutions approchées afin de trouver en un temps raisonnable une séquence de passage satisfaisante pour chaque carrefour. Ces algorithmes (Algorithmes génétiques) ont en effet, besoin de moins de temps de calcul tout en assurant une bonne qualité de solution.Enfin, nous illustrons la mise en œuvre des déférentes approches proposées à travers des résultats de simulation afin d'évaluer leurs performances.

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Karlsson, Erika, and Jenny Wikström. "Autonoma fordons påverkan på infrastrukturen : En studie om förändrade behov av fysisk och digital infrastruktur." Thesis, Uppsala universitet, Fasta tillståndets fysik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-358290.

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The conversion towards a more automated transport system causes new challenges for information sharing, responsibilities and infrastructure requirements. This study examines autonomous vehicles’ need of reliable information and infrastructure, and how it affects the future road transport system, with focus on road signs. The purpose of the study is to investigate how cooperation among different actors can meet the vehicles’ need of information, with the assumption of mixed traffic including vehicles of different automation levels. Interviews were conducted with representatives from the automotive industry, the transport administration, the transport agency and a transport research lab. The results indicate great complexity and diversity among the actors perspectives upon how the automated transport system will be designed in the future. It is clear that autonomous driving will be limited to geofenced areas and restricted under special conditions, at least in the near future. Redundant and secure information obtained e.g. from digital maps, cloud services and vehicle sensors will be important for the future automated vehicle to make accurate strategic-, tactical- and operational decisions. Further, it is important that actors collaborate and share this information with each other.

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17

Topcu, Taylan Gunes. "Management of Complex Sociotechnical Systems." Diss., Virginia Tech, 2020. http://hdl.handle.net/10919/97844.

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Sociotechnical systems (STSs) rely on the collaboration between humans and autonomous decision-making units to fulfill their objectives. Highly intertwined social and technical contextual factors influence the collaboration between these human and engineered elements, and consequently the performance characteristics of the STS. In the next two decades, the role allocated to STSs in our society will drastically increase. Thus, the effective design of STSs requires an improved understanding of the human-autonomy interdependency. This dissertation brings together management science along with systems thinking and uses a mixed-methods approach to investigate the interdependencies between people and the autonomous systems they collaborate within complex socio-technical enterprises. The dissertation is organized in three mutually exclusive essays, each investigating a distinct facet of STSs: safe management, collaboration, and efficiency measurement. The first essay investigates the amount of work allocated to safety-critical decision makers and quantifies Rasmussen's workload boundary that represents the limit of attainable workload. The major contribution of this study is to quantify the qualitative theoretical construct of the workload boundary through a Pareto-Koopmans frontier. This frontier allows one to capture the aggregate impact of the social and technical factors that originate from operational conditions on workload. The second essay studies how teams of humans and their autonomous partners share work, given their subjective preferences and contextual operational conditions. This study presents a novel integration of machine learning algorithms in an efficiency measurement framework to understand the influence of contextual factors. The results demonstrate that autonomous units successfully handle relatively simple operational conditions, while complex operational conditions require both workers and their autonomous counterparts to collaborate towards common objectives. The third essay explores the complementary and contrasting roles of efficiency measurement approaches that deal with the influence of contextual factors and their sensitivity to sample size. The results are organized in a structured taxonomy of their fundamental assumptions, limitations, mathematical structure, sensitivity to sample size, and their practical usefulness. To summarize, this dissertation provides an interdisciplinary and pragmatic research approach that benefits from the strengths of both theoretical and data-driven empirical approaches. Broader impacts of this dissertation are disseminated among the literatures of systems engineering, operations research, management science, and mechanical design.
Doctor of Philosophy
A system is an integrated set of elements that achieve a purpose or goal. An autonomous system (ADS) is an engineered element that often substitutes for a human decision-maker, such as in the case of an autonomous vehicle. Sociotechnical systems (STSs) are systems that involve the collaboration of a human decision-maker with an ADS to fulfill their objectives. Historically, STSs have been used primarily for handling safety critical tasks, such as management of nuclear power plants. By design, STSs rely heavily on a collaboration between humans and ADS decision-makers. Therefore, the overall characteristics of a STS, such as system safety, performance, or reliability; is fully dependent on human decisions. The problem with that is that people are independent entities, who can be influenced by operational conditions. Unlike their engineered counterparts, people can be cognitively challenged, tired, or distracted, and consequently make mistakes. The current dependency on human decisions, incentivize business owners and engineers alike to increase the level of automation in engineered systems. This allows them to reduce operational costs, increase performance, and minimize human errors. However, the recent commercial aircraft accidents (e.g., Boeing 737-MAX) have indicated that increasing the level of automation is not always the best strategy. Given that increasing technological capabilities will spread the adoption of STSs, vast majority of existing jobs will either be fully replaced by an ADS or will change from a manual set-up into a STS. Therefore, we need a better understanding of the relationships between social (human) and engineered elements. This dissertation, brings together management science with systems thinking to investigate the dependencies between people and the autonomous systems they collaborate within complex socio-technical enterprises. The dissertation is organized in three mutually exclusive essays, each investigating a distinct facet of STSs: safe management, collaboration, and efficiency measurement. The first essay investigates the amount of work handled by safety-critical decision makers in STSs. Primary contribution of this study is to use an analytic method to quantify the amount of work a person could safely handle within a STSs. This method also allows to capture the aggregate impact of the social and technical factors that originate from operational conditions on workload. The second essay studies how teams of humans and their autonomous partners share work, given their preferences and operational conditions. This study presents a novel integration of machine learning algorithms to understand operational influences that propel a human-decision maker to handle the work manually or delegate it to ADSs. The results demonstrate that autonomous units successfully handle simple operational conditions. More complex conditions require both workers and their autonomous counterparts to collaborate towards common objectives. The third essay explores the complementary and contrasting roles of data-driven analytical management approaches that deal with the operational factors and investigates their sensitivity to sample size. The results are organized based on their fundamental assumptions, limitations, mathematical structure, sensitivity to sample size, and their practical usefulness. To summarize, this dissertation provides an interdisciplinary and pragmatic research approach that benefits from the strengths of both theoretical and data-driven empirical approaches. Broader impacts of this dissertation are disseminated among the literatures of systems engineering, operations research, management science, and mechanical design.

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18

Fraser, Robert James C. "Embedded command and control infrastructures for intelligent autonomous systems." Thesis, University of Southampton, 1994. https://eprints.soton.ac.uk/250158/.

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The issue of Command and Control (C2) is generally associated with the management infrastructure of large scale systems for warfare, public utilities and public transportation, and is concerned with ensuring that the distributed human elements of command and control can be fully integrated into a coherent, total system. Intelligent Autonomous Systems (IASs) are a class of complex systems that perform tasks autonomously in uncertain, dynamic environments, the management of which can be viewed from the perspective of embedded command and control systems. This thesis establishes a vision for the modular construction of intelligent autonomous embedded C2 systems, which defines a complex integration problem characterised by distributed intelligence, world knowledge and control, concurrent processing on heterogeneous platforms, and real-time performance requirements. It concludes that by adopting an appropriate systems infrastructure model, based on Object Technology, it is possible to view the construction of embedded C2 systems as the integration of a temporally assembled collection of reusable components. To support this metaphor it is necessary to construct a common reference model, or standards framework, for the representation and specification of modular C2 systems. This framework must support the coherent long term development and evolution in system capability, ensuring that systems are extensible, robust and perform correctly. In this research, which draws together the themes of other published research in object oriented systems and robotics, classical AI models for intelligent systems architectures are used to specify the overall system structure, with open systems technologies supporting the interoperation of elements within the architecture. All elements of this system are modelled in terms of objects, with well defined, implementation independent interfaces. This approach enables the system to be specified in terms of an object model, and the development process to be framed in terms of object technology, defining a new approach to IAS development. The implementation of an On-board Command and Control System for an Autonomous Underwater Vehicle is used to validate these concepts. The further application of emergent industrial standards in distributed object oriented systems means that this kind of component-based integration is scaleable, providing a near-term solution to generic command and control problems, including Computer Integrated Manufacturing and large scale autonomous systems, where individual autonomous systems, such as robots, form elements of a complete, total intelligent system, for application to areas such as fully automated factories and cooperating intelligent autonomous vehicles for construction sites.

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Giansiracusa, Michelangelo Antonio. "A Secure Infrastructural Strategy for Safe Autonomous Mobile Agents." Queensland University of Technology, 2005. http://eprints.qut.edu.au/16052/.

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Portable languages and distributed paradigms have driven a wave of new applications and processing models. One of the most promising, certainly from its early marketing, but disappointing (from its limited uptake)is the mobile agent execution and data processing model. Mobile agents are autonomous programs which can move around a heterogeneous network such as the Internet, crossing through a number of different security domains, and perform some work at each visited destination as partial completion of a mission for their agent user. Despite their promise as a technology and paradigm to drive global electronic services (i.e.any Internet-driven-and-delivered service, not solely e-commerce related activities), their up take on the Internet has been very limited. Chief among the reasons for the paradigm's practical under-achievement is there is no ubiquitous frame work for using Internet mobile agents, and non-trivial security concerns abound for the two major stake holders (mobile agent users and mobile agent platform owners). While both stake holders have security concerns with the dangers of the mobile agent processing model, most investigators in the field are of the opinion that protecting mobile agents from malicious agent platforms is more problematic than protecting agent platforms from malicious mobile agents. Traditional cryptographic mechanisms are not well-suited to counter the bulk of the threats associated with the mobile agent paradigm due to the untrusted hosting of an agent and its intended autonomous, flexible movement and processing. In our investigation, we identified that the large majority of the research undertaken on mobile agent security to date has taken a micro-level perspective. By this we mean research focused solely on either of the two major stakeholders, and even then often only on improving measures to address one security issue dear to the stake holder - for example mobile agent privacy (for agent users) or access control to platform resources (for mobile agent platform owners). We decided to take a more encompassing, higher-level approach in tackling mobile agent security issues. In this endeavour, we developed the beginnings of an infrastructural-approach to not only reduce the security concerns of both major stakeholders, but bring them transparently to a working relationship. Strategic utilisation of both existing distributed system trusted-third parties (TTPs) and novel mobile agent paradigm-specific TTPs are fundamental in the infrastructural framework we have devised. Besides designing an application and language independent frame work for supporting a large-scale Internet mobile agent network, our Mobile Agent Secure Hub Infrastructure (MASHIn) proposal encompasses support for flexible access control to agent platform resources. A reliable means to track the location and processing times of autonomous Internet mobile agents is discussed, withfault-tolerant handling support to work around unexpected processing delays. Secure,highly-effective (incomparison to existing mechanisms) strategies for providing mobile agent privacy, execution integrity, and stake holder confidence scores were devised - all which fit comfortably within the MASHIn framework. We have deliberately considered the interests - withoutbias -of both stake holders when designing our solutions. In relation to mobile agent execution integrity, we devised a new criteria for assessing the robustness of existing execution integrity schemes. Whilst none of the existing schemes analysed met a large number of our desired properties for a robust scheme, we identified that the objectives of Hohl's reference states scheme were most admirable - particularly real - time in - mission execution integrity checking. Subsequently, we revised Hohl's reference states protocols to fit in the MASHIn framework, and were able to overcome not only the two major limitations identified in his scheme, but also meet all of our desired properties for a robust execution integrity scheme (given an acceptable decrease in processing effiency). The MASHIn offers a promising new perspective for future mobile agent security research and indeed a new frame work for enabling safe and autonomous Internet mobile agents. Just as an economy cannot thrive without diligent care given to micro and macro-level issues, we do not see the security prospects of mobile agents (and ultimately the prospects of the mobile agent paradigm) advancing without diligent research on both levels.

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20

Zhang, Wei, Q. Zheng, Ashraf F. Ashour, and B. Han. "Self-healing concrete composites for sustainable infrastructures: a review." Elsevier, 2020. http://hdl.handle.net/10454/17947.

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Yes
Cracks in concrete composites, whether autogenous or loading-initiated, are almost inevitable and often difficult to detect and repair, posing a threat to safety and durability of concrete infrastructures, especially for those with strict sealing requirements. The sustainable development of infrastructures calls for the birth of self-healing concrete composites, which has the built-in ability to autonomously repair narrow cracks. This paper reviews the fabrication, characterization, mechanisms and performances of autogenous and autonomous healing concretes. Autogenous healing materials such as mineral admixtures, fibers, nanofillers and curing agents, as well as autonomous healing methods such as electrodeposition, shape memory alloys, capsules, vascular and microbial technologies, have been proven to be effective to partially or even fully repair small cracks. As a result, the mechanical properties and durability of concrete infrastructure can be restored to some extent. However, autonomous healing techniques have shown a better performance in healing cracks than most of autogenous healing methods that are limited to healing of cracks having a narrower width than 150 µm. Self-healing concrete with biomimetic features, such as self-healing concrete based on shape memory alloys, capsules, vascular networks or bacteria, is a frontier subject in the field of material science. Self-healing technology provides concrete infrastructures with the ability to adapt and respond to the environment, exhibiting a great potential to facilitate the creation of a wide variety of smart materials and intelligent structures.
The full-text of this article will be released for public view at the end of the publisher embargo on 16 May 2021.

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21

Shaikh, Palwasha Waheed. "Intelligent Infrastructures for Charging Reservation and Trip Planning of Connected Autonomous Electric Vehicles." Thesis, Université d'Ottawa / University of Ottawa, 2021. http://hdl.handle.net/10393/42735.

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For an environmentally sustainable future, electric vehicle (EV) adoption rates have been growing exponentially around the world. There is a pressing need for constructing smart charging infrastructures that can successfully integrate the large influx of connected and autonomous EVs (CAEVs) into the smart grids. To fulfill the aspiration of massive deployment of autonomous mobility on demand (AMoD) services, the proposed fast and secure framework will need to address the long charging times and long waiting times of static charging. It will also need to consider dynamic wireless charging as a viable solution for the CAEVs on the move. In this thesis, a novel three-layer charging system design of static and dynamic wireless charging that can operate with the existing wired charging infrastructure and standards for Intelligent Transportation System (ITS) is presented. This internet of things (IoT) application is accompanied by a proposed handshake protocol with light-weight request message frames. It employs vehicle to infrastructure (V2I) and vehicle to grid (V2G) communications for fulfilling charging requests of CAEVs with the shortest possible route to the destination. The charging requests of the CAEV users are fulfilled by dynamically distributing the request over the three different types of charging equipment. Further, the requests are serviced and billed privately and securely using two different proposed payment schemes with the encrypted virtual currency. The hardware independent system can detect misalignment of the CAEVs on the wireless charging pads and the speed issue errors in dynamic wireless charging systems as well as avoid free-riders. Additionally, the proposed dynamic wireless charging network (DWCN) design specification tool is analyzed. The suggestions made by the tool for building a DWCN can enable implementers to achieve the desired charging delivery performance at the lowest cost possible. Finally, the presented system is simulated, and this verified and validated simulator is revealed to make reservations and plan trips with minimum waiting times, travel costs, and battery consumption per vehicle trip. The system results proved 90.25% charge delivery efficiency. This system is then compared with alternative system designs to help showcase its ability to aid implementers and analysts in making design choices with the simulation.

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Asghar, Jawaria. "Jointly Ego Motion and Road Geometry Estimation for Advanced Driver Assistance Systems." Thesis, Linköpings universitet, Reglerteknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-179491.

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For several years, there has been a remarkable increase in efforts to develop an autonomous car. Autonomous car systems combine various techniques of recognizing the environment with the help of the sensors and could drastically bring down the number of accidents on road by removing human conduct errors related to driver inattention and poor driving choices. In this research thesis, an algorithm for jointly ego-vehicle motion and road geometry estimation for Advanced Driver Assistance Systems (ADAS) is developed. The measurements are obtained from the inertial sensors, wheel speed sensors, steering wheel angle sensors, and camera. An Unscented Kalman Filter (UKF) is used for estimating the states of the non-linear system because UKF estimates the state in a simplified way without using complex computations. The proposed algorithm has been tested on a winding and straight road. The robustness and functioning of our algorithm have been demonstrated by conducting experiments involving the addition of noise to the measurements, reducing the process noise covariance matrix, and increasing the measurement noise covariance matrix and through these tests, we gained more trust in the working of our tracker. For evaluation, each estimated parameter has been compared with the reference signal which shows that the estimated signal matches the reference signal very well in both scenarios. We also compared our joint algorithm with individual ego-vehicle and road geometry algorithms. The results clearly show that better estimates are obtained from our algorithm when estimated jointly instead of estimating separately.

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23

Lebre, Marie-Ange. "De l'impact d'une décision locale et autonome sur les systèmes de transport intelligent à différentes échelles." Thesis, Lyon, 2016. http://www.theses.fr/2016LYSEI007/document.

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Cette thèse présente des applications véhiculaires à différentes échelles : de la petite qui permet d'effectuer des tests réels de communication et de service ; à des plus grandes incluant plus de contraintes mais permettant des simulations sur l'ensemble du réseau. Dans ce contexte nous soulignons l'importance d'avoir et de traiter des données réelles afin de pouvoir interpréter correctement les résultats. A travers ces échelles nous proposons différents services utilisant la communication V2V et V2I. Nous ne prétendons pas prendre le contrôle du véhicule, notre but est de montrer le potentiel de la communication à travers différents services. La petite échelle se focalise sur un service à un feu de circulation permettant d'améliorer les temps de parcours et d'attente, et la consommation en CO2 et en carburant. La moyenne échelle se situant sur un rond-point, permet grâce à un algorithme décentralisé, d'améliorer ces mêmes paramètres, mais montre également qu'avec une prise de décision simple et décentralisée, le système est robuste face à la perte de paquet, à la densité, aux comportements humains ou encore aux taux d'équipement. Enfin à l'échelle d'une ville, nous montrons que grâce à des décisions prises de manière locale et décentralisée, avec seulement un accès à une information partielle dans le réseau, nous obtenons des résultats proches des solutions centralisées. La quantité de données transitant ainsi dans le réseau est considérablement diminuée. Nous testons également la réponse de ces systèmes en cas de perturbation plus ou moins importante tels que des travaux, un acte terroriste ou une catastrophe naturelle. Les modèles permettant une prise de décision locale grâce aux informations délivrées autour du véhicule montrent leur potentiel que se soit avec de la communication avec l'infrastructure V2I ou entre les véhicules V2V
In this thesis we present vehicular applications across different scales: from small scale that allows real tests of communication and services; to larger scales that include more constraints but allowing simulations on the entire network. In this context, we highlight the importance of real data and real urban topology in order to properly interpret the results of simulations. We describe different services using V2V and V2I communication. In each of them we do not pretend to take control of the vehicle, the driver is present in his vehicle, our goal is to show the potential of communication through services taking into account the difficulties outlined above. In the small scale, we focus on a service with a traffic light that improves travel times, waiting times and CO2 and fuel consumption. The medium scale is a roundabout, it allows, through a decentralized algorithm, to improve the same parameters. It also shows that with a simple and decentralized decision-making process, the system is robust to packet loss, density, human behavior or equipment rate. Finally on the scale of a city, we show that local and decentralized decisions, with only a partial access to information in the network, lead to results close to centralized solutions. The amount of data in the network is greatly reduced. We also test the response of these systems in case of significant disruption in the network such as roadworks, terrorist attack or natural disaster. Models, allowing local decision thanks to information delivered around the vehicle, show their potential whatsoever with the V2I communication or V2V

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Redondin, Maxime. "Approches de classifications à partir de données fortement censurées pour l'analyse de fiabilité et la définition de stratégies de maintenance : application aux marquages routiers dans un contexte de véhicules autonomes." Thesis, Paris Est, 2018. http://www.theses.fr/2018PESC1118/document.

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La qualité et la fiabilité des infrastructures routières jouent un rôle majeur dans la sécurité routière. Cela est d'autant plus vrai lorsque qu'on s'intéresse à la circulation de véhicules autonomes qui doivent être capables à terme de circuler seuls dans l'environnement routier. Les récents travaux menés au sein de VEDECOM montrent qu'une signalisation horizontale routière claire et visible est importante dans sa prise de décision. La détection des lignes de marquage sont en grande partie réalisée par des caméras. Afin d'optimiser cette approche et prévenir les situations de non détection, cette thèse propose des outils d'analyse de fiabilité et d'aide à la maintenance de la signalisation horizontale. Aujourd’hui, la fiabilité des marquages est basée le phénomène de rétro-réflexion : un véhicule éclaire avec ses feux de croisement un marquage qui renvoie la lumière vers le conducteur. Pour établir son niveau de dégradation, des campagnes d'inspection sont réalisées par des rétro-réflectomètres montés sur des véhicules traceurs. La littérature des trente dernières années présente essentiellement des modèles de dégradation basés sur des méthodes de régression. Ces derniers présentent de nombreuses difficultés à être déployés dans le cadre d'un plan de maintenance. Cette thèse propose d'aborder ces questions sous l'angle de la théorie de la fiabilité et de la maintenance tout en tenant compte des pratiques actuelles. Une ligne de marquage est ici interprétée comme un système multi-composants monté en parallèle. Cette thèse propose de l'analyser en quatre points. Premièrement, l'ensemble des inspections est formalisé en une base de suivi. Si des données sont manquantes et si l'historique de maintenance est indisponible, alors différentes approches basées sur une Classification Ascendante Hiérarchique (CAH) sont proposées afin de les estimer. Deuxièmement, l'entretien de la totalité d'une ligne est logistiquement délicat. Une CAH de la base de suivi a pour fonction d'établir les marquages suivant un même modèle de dégradation. Les clusters sont géographiquement localisés et corrélés à des situations précises comme un échangeur ou une agglomération. Pour ces raisons, ils sont interprétés comme des zones de maintenance stratégiques. Troisièmement, réaliser une analyse de Weibull des marquages. Les rétro-réflectomètres n'indiquent pas précisément les instants de défaillance. Ils sont statistiquement censurés à gauche, à droite ou par intervalle. En alternative à la méthode du Maximum de Vraisemblance, une approche basée sur un algorithme EM est proposé afin d'établir le modèle de Weibull et les censures estimées les plus vraisemblables. Dernièrement, deux stratégies de maintenance sont proposées : systématique par rapport à l'âge et conditionnée par la dégradation courante. Elles sont en adéquation avec les pratiques de maintenance. La première permet une gestion passive de l'entretien tandis que la seconde permet une connaissance avancée de la ligne de marquage dans le temps. A partir d'un système multi-composants non réparable et fortement censuré, les composants suivant un même modèle de dégradation sont classables, chaque groupe connait un modèle de durée de vie et finalement il est possible de déduire un plan de maintenance adapté
The quality and reliability of road infrastructure and its equipment play a major role in road safety. This is especially true if we are interested in autonomous car traffic. Recent papers from VEDECOM Institut proves that a clear and reliable road marking is important in it decison making. Marking lanes are detected by camera. These markings need an accurate maintenance strategy to guarantee that the markings remain perceptible. This report proposes different solutions based on the reliabilty and maintenance theory. Today, the markings reliability is based on the retroreflective illuminance. A retroreflective marking reflects light from a vehicle headlight back in the direction of the driver. Marking retroreflectivity can be dynamically inspected using a retroreflectometer. The litterature of the last thirty years proposes degradation models for retroreflective marking based on a regression model. All of them have a common weakness: they are difficult to apply directly to a given road network. This report presents maintenance models who math with current maintenance actions. A marking lane is interpreted as multi-unit systeme. All unit are laid in parallel. The global maintenance strategy is based on four points. First, the whole inspection data is formalized into one monitoring base. If inspection data is missing or if the maintenance historic is unavailable else an estimation process based on the Agglomerative Hierarchical Clustering (AHC) is proposed. Second, to replace a whole markings lane is logistically difficult to work. Again, an AHC of the monitoring proposed several clusters. Each cluster presents it own degradation model. Clusters are geographically tracked and correlated to specific situation (interchange, urban area, bypass...). That's why a cluster is interpreted as a maintenance strategic area. Thirdly, a Weibull analysis of each cluster is done. Current retroreflectometers cannot detects the exact faillure moment. this information is statistically censored. Three cases are identified : left, right and interval censored. To parameter a Weibull model, an EM Algorithm is propoased as an alternative to the Maximum Likelihood Estimator. This algorithm is also an estimator to censored markings life time. Lastly, two classic preventive maintenance strategies are proposed : systematic according to the age and conditionned to the current degradation. Each one is credible according the current maintenance practice. The first prposed a passsive managament of the markings maintenance. The second ensures an advanced knowledge of the road network over the time. On a multi-unit system no-repairable and strongly censored, units which admit the same degradation model are identified by a clustering approach. Each cluster present it own Weibull analysis. Finally, an adapted maintenance strategy is done

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Jayaprakash, Nagapraveen. "Infrastructure à base de règles actives pour la décision dans des systèmes autonomes à composants." Grenoble INPG, 2008. http://www.theses.fr/2008INPG0050.

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Les systèmes autonomiques possèdent la capacité d'effectuer automatiquement des opérations lors d'occurrences de faits significatifs sans intervention humaine. Pour fournir cette capacité, nous proposons d'utiliser un mécanisme à base de règles actives, ou règle Evénement-Condition-Action (ECA). De nombreuses questions se posent sur leurs exécutions. Nous proposons un modèle d'exécution adapté aux systèmes à composants. Une deuxième contribution est la proposition d'une infrastructure autonomique dans laquelle les règles ainsi que leur sémantiques sont représentées par des composan qui permet: i) de personnaliser la construction des systèmes à base de règles, et ii) de modifier dynamiquement les règles et leurs sémantiques de la m manière que le système cible. Ces éléments forment la base d'une bibliothèque extensible de composants pour la construction des mécanismes réactifs
The ability to (re)act automatically to perform corrective actions in response to the occurrence of situations of interest (events) is a key feature of autonc computing. Ln active database systems, it is incorporated by Event-Condition-Action (or active) rules. We propose a rule model, composed of a rule defir model and a rule execution mode!. We propose equally an architecture for the integration of rules into component-based systems in which they as weil. Their semantics (execution model, behaviour) are represented as components, which permits i) to construct personalized rule-based systems and ii) to dynamically modify them and their semantics in the same manner as the underlying system. These foundations form the basis of an extensible framewoi which is a library of components to construct the various active mechanisms

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Quesnel, Flavien. "Vers une gestion coopérative des infrastructures virtualisées à large échelle : le cas de l'ordonnancement." Phd thesis, Ecole des Mines de Nantes, 2013. http://tel.archives-ouvertes.fr/tel-00821103.

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Les besoins croissants en puissance de calcul sont généralement satisfaits en fédérant de plus en plus d'ordinateurs (ou noeuds) pour former des infrastructures distribuées. La tendance actuelle est d'utiliser la virtualisation système dans ces infrastructures, afin de découpler les logiciels des noeuds sous-jacents en les encapsulant dans des machines virtuelles. Pour gérer efficacement ces infrastructures virtualisées, de nouveaux gestionnaires logiciels ont été mis en place. Ces gestionnaires sont pour la plupart hautement centralisés (les tâches de gestion sont effectuées par un nombre restreint de nœuds dédiés). Cela limite leur capacité à passer à l'échelle, autrement dit à gérer de manière réactive des infrastructures de grande taille, qui sont de plus en plus courantes. Au cours de cette thèse, nous nous sommes intéressés aux façons d'améliorer cet aspect ; l'une d'entre elles consiste à décentraliser le traitement des tâches de gestion, lorsque cela s'avère judicieux. Notre réflexion s'est concentrée plus particulièrement sur l'ordonnancement dynamique des machines virtuelles, pour donner naissance à la proposition DVMS (Distributed Virtual Machine Scheduler). Nous avons mis en œuvre un prototype, que nous avons validé au travers de simulations (notamment via l'outil SimGrid), et d'expériences sur le banc de test Grid'5000. Nous avons pu constater que DVMS se montrait particulièrement réactif pour gérer des infrastructures virtualisées constituées de dizaines de milliers de machines virtuelles réparties sur des milliers de nœuds. Nous nous sommes ensuite penchés sur les perspectives d'extension et d'amélioration de DVMS. L'objectif est de disposer à terme d'un gestionnaire décentralisé complet, objectif qui devrait être atteint au travers de l'initiative Discovery qui fait suite à ces travaux.

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Roy, Rahul. "Bacteria - based self - healing mortar with bio - plastic healing agents : Comparative analysis on quantification and characterization of self-healing by various experimental techniques." Thesis, KTH, Betongbyggnad, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-289227.

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Crack formation in concrete structures due to various load and non-load factors leading to degradation of service life is very common. Repair and maintenance operations are, therefore, necessary to prevent cracks propagating and reducing the service life of the structures. Accessibility to affected areas can, however, be difficult and the reconstruction and maintenance of concrete buildings are expensive in labor and capital. Autonomous healing by encapsulated bacteria-based self-healing agents is a possible solution. In this study, a novel bacteria-based healing agent was investigated in order to test the self-healing efficiency of the specimens in comparison to the commonly used healing agents made of lactic acid derivatives. (PLA). The novel integrated healing agent is a non-toxic, biodegradable dissolved inorganic carbon substrate derived from wastewater that has been used as an encapsulation material for spores of cohnii bacteria in the Bacillus gene family and for nutrients made up of yeast extract. This dissolved inorganic carbon substrate is a bioplastic made by the bacteria in wastewater known as alkanoate derivatives (AKD). To assess the effect of these healing agents on the mortar characteristics, quantification and characterization of the self-healing were conducted. The quantification of the self-healing efficiency was performed by various experimental techniques such as light microscopy, water permeability, chloride ion permeability, and thermogravimetric analysis whereas the material characterization was investigated by x-ray diffraction and environmental scanning electron microscope. Moreover, a statistical analysis was performed to study the correlation of self-healing efficiency between various experimental techniques. The incorporated dosages of healing agents adopted were 2.6% and 5% by weight of cement. Complete immersion in water was considered to be the condition of treatment of the specimen for healing at two separate periods of 28 and 56 days. The crack widths investigated were in the range of 0.04 to 0.8 mm. The quantification and characterization tests indicated that bacterial containing mortar series especially PLA and AKD at 5% dosage displayed a higher self-healing performance and an indication of precipitated calcium carbonate in the crack mouth. However, the results from the chloride migration test didn’t show any influence by the self-healing healing agents. Furthermore, the statistical analysis identified a major impact of the internal crack geometry on the difference in self-healing ratios, also in the cases where effective crack width is equal.
Sprickbildning i betongkonstruktioner p.g.a. olika laster och lastoberoende faktorer som leder till förkortning av livslängden är mycket vanligt förekommande. Reparation och underhåll är därför nödvändiga för att förhindra att sprickorna propagerar och reduceras konstruktionernas livslängd. Möjligheterna att komma åt de skadade partierna kan dock vara svåra och reparationerna är vanligen både arbetsintensiva och kostsamma. Självläkning med ingjutna bakteriebaserade, självläkande tillsatser är en möjlig lösning på problemet. I denna studie undersöktes en ny bakteriebaserat självläkande tillsats för att prova den självläkande förmågan i jämförelse med vanligt förekommande självläkande tillsatser av mjölksyrederivat (PLA). Den nya integrerade självläkande tillsatsen är en giftfri, biologiskt nedbrytningsbar, oorganisk kolsubstratslösning utvunnen ur avloppsvatten, en tillsats som har använts som ett inkapslingsmaterial för sporer från cohnii-bakterier från bacillussläktet och från näringsämnen framställda ur jästextrakt. Denna kolsubstratslösning är en bioplast framställd ur avloppsvatten och känd som alkanoatderivat (AKD). För att bestämma effekten av dessa självläkande tillsatser på cement bruks egenskaper genomfördes kvantifiering och karakterisering av självläkningen. Kvantifieringen av självläkningens effektivitet utfördes genom olika experimentella metoder såsom ljusmikroskopi, vattengenomsläpplighet, kloridjonstransport och termogravimetriska analyser medan materialkarakteriseringen utfördes med röntgendiffraktion och svepelektronmikroskop (ESEM). Vidare genomfördes en statistisk analys för att undersöka korrelationen mellan olika experimentella metoder. De doser av självläkande tillsatser som användes var 2,6 och 5 % av cementvikten. Fullständig nedsänkning i vatten ansågs vara den lämpligaste lagringen för självläkning under två olika tidsperioder på 28 respektive 56 dygn. De sprickbredder som studerades låg i intervallet 0.04 till 0.8 mm. Försöken kring kvantifiering och karakterisering indikerade att bruken innehållande bakterier, i synnerhet 5 % PLA och AKD, utvecklade en högre form av självläkande beteende och en förekomst av kalciumkarbonat i sprickspetsen. Resultaten från försöken kring kloridtransport visade emellertid inga tecken på någon effekt från de självläkande tillsatserna. Vidare identifierades i den statistiska analysen att inre sprickbildning har stor betydelse för självläkningseffekten även i fall där den effektiva sprickbredden är lika stor.

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Zaghdoud, Radhia. "Hybridation d’algorithme génétique pour les problèmes des véhicules intelligents autonomes : applications aux infrastructures portuaires de moyenne taille." Thesis, Ecole centrale de Lille, 2015. http://www.theses.fr/2015ECLI0023/document.

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L’objectif de ce travail est de développer un système d’affectation des conteneurs aux véhicules autonomes intelligents (AIVs) dans un terminal à conteneurs. Dans la première phase, on a développé un système statique pour résoudre le problème multi-objectif optimisant la durée totale des opérations de déplacement des conteneurs, le temps d’attente des véhicules aux niveaux de points de chargement et de déchargement et l’équilibre de temps de travail entre les véhicules. L’approche proposée est l’algorithme génétique(AG). Une extension de cette approche a été ensuite effectuée pour corriger les limites de la précédente. Pour choisir la meilleure approche, une étude comparative a été réalisée entre trois approches : AG, AG & DIJK et AG & DIJK & HEUR. Les résultats numérique ont montré que l’approche AG & DIJK & HEUR est meilleure. Dans la deuxième phase, on a étudié la robustesse de notre système dans un environnement dynamique. Un retard de l’arrivée d’un navire au port ou un dysfonctionnement de l’un des équipements peutperturber le planning des opérations et donc influencer sur les opérations d’affectation des conteneurs. L’idée était d’ajouter les nouveaux conteneurs aux véhicules qui sont déjà non disponibles. D’autres cas de perturbation comme la congestion routière, la non disponibilité de certaines portions de la routes ont été étudiés expérimentalementEt les résultats numériques ont montré la robustesse de notre approche pour le cas dynamique.Mots-clés : Conteneurs, AIV, routage, optimisation, algorithme génetique, environnement dynamique
The objective of our work is to develop a container assignment system for intelligent autonomous vehicles (AIVS) in a container terminal. Given the complexity of this problem, it was proposed to decompose it into three problems: The problem of dispatching containers to AIVS, the AIVS routing problem and the problem of scheduling containers to queues of AIVS. To achieve this goal, we developed in the first phase, a static system for multi-objective problem to optimize the total duration of the containers transportation, the waiting time of vehicles at loading points and the equilibrium of working time between vehicles. The approach used was the genetic algorithm (GA). This approach was applied to optimize only the assignment operation without influence on the choice of the path traveled by each AIV. An extension of this work was then made to improve the results found. For this purpose, a comparative study was carried out between three approaches: The first approach is the AG, the second approach is the GA and the Dijkstra algorithm (DIJK) that was used to find the shortest path for each vehicle and the third approach is the AG and DIJK and heuristic (HEUR) which was proposed to choose the nearest vehicle of each container. The numerical study showed the best performance of the AG & DJK & HEUR approach over the other two approaches. In the second phase of our project, the robustness of our system in a dynamic environment has been studied. A delay of the arrival of a ship at the port or malfunction of one of any equipment of the port can cause a delay of one of the operations of loading or unloading process. This will affect the container assignment operation. The idea was to add new containers to vehicles that are already unavailable. The traffic can also cause a delay in arrival of the vehicle at the position of the container or the unavailability of one of the paths crossing point. These cases were investigated experimentally, numerical results showed the robustness of our approach to dynamic case

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Grazioli, Margherita. "The 'right to the city' in the post-welfare metropolis : community building, autonomous infrastructures and urban commons in Rome's self-organised housing squats." Thesis, University of Leicester, 2018. http://hdl.handle.net/2381/42482.

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In the city of Rome, the housing crisis has reached emergency proportions as part of an interrelated and ongoing crisis of social reproduction intrinsic to the process of neoliberal restructuring in the prolonged aftermath of the 2008 economic crisis. Part of this crisis are the estimated that 10,000 people are currently living inside more than 100 previously empty buildings, of both private and public ownership, that have been occupied and self-renovated by the squatters as an autonomous response towards their condition of severe housing deprivation. These numbers present a continuum with the connotation of Rome as a self-made city in which Housing Rights Movements have historically represented a catalyser for thriving urban struggles. This thesis contends that nowadays housing squats represent spaces where the 'right to the city' is re-appropriated through the autonomous regeneration of unused urban ecologies, the commoning of social reproduction, and the crafting of urban commons. It aims at contributing to the field of studies of Critical Organisation Studies, Urban Studies and Urban Geography concerned with urban squatting and the organisational forms adopted by grassroots urban movements within the current phase of post-crisis, post-welfare neoliberal restructuring. The analysis is structured around the interviews, fieldnotes and visual materials collected during a one-year long activist-ethnography carried out inside two housing squats affiliated with the Movement Blocchi Precari Metropolitani, Tiburtina 770 and Metropoliz. Chapter 1 contextualises squatting for housing purposes within a broader crisis of social reproduction in relation to the notion of 'right to the city'. Chapter 2 describes the epistemological, methodological and ethical challenges intrinsic to the chosen activist-ethnographic approach for its subjective orientation and scope. Chapter 3 contextualises the historical, geographical and legislative framework pertaining squatting within which the Movements operate. Chapter 4 describes the social composition of the squatters and the initial process of community-building. Chapter 5 recounts the making of the squats into autonomous infrastructures where producing manifold urban commons. Chapter 6 discusses the different strategies of local activism and networking implemented by the squatters. Chapter 7 narrates the role of squatters as part of the Housing Rights Movements for contending 'right to the city', problematising it in relation to the forms of activism and organisation they configure.

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30

Croubois, Hadrien. "Toward an autonomic engine for scientific workflows and elastic Cloud infrastructure." Thesis, Lyon, 2018. http://www.theses.fr/2018LYSEN061/document.

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Les infrastructures de calcul scientifique sont en constante évolution, et l’émergence de nouvelles technologies nécessite l’évolution des mécanismes d’ordonnancement qui leur sont associé. Durant la dernière décennie, l’apparition du modèle Cloud a suscité de nombreux espoirs, mais l’idée d’un déploiement et d’une gestion entièrement automatique des plates-formes de calcul est jusque la resté un voeu pieu. Les travaux entrepris dans le cadre de ce doctorat visent a concevoir un moteur de gestion de workflow qui intègre les logiques d’ordonnancement ainsi que le déploiement automatique d’une infrastructure Cloud. Plus particulièrement, nous nous intéressons aux plates-formes Clouds disposant de système de gestion de données de type DaaS (Data as a Service). L’objectif est d’automatiser l’exécution de workflows arbitrairement complexe, soumis de manière indépendante par de nombreux utilisateurs, sur une plate-forme Cloud entièrement élastique. Ces travaux proposent une infrastructure globale, et décrivent en détail les différents composants nécessaires à la réalisation de cette infrastructure :• Un mécanisme de clustering des tâches qui prend en compte les spécificités des communications via un DaaS ;• Un moteur décentralisé permettant l’exécution des workflows découpés en clusters de tâches ;• Un système permettant l’analyse des besoins et le déploiement automatique. Ces différents composants ont fait l’objet d’un simulateur qui a permis de tester leur comportement sur des workflows synthétiques ainsi que sur des workflows scientifiques réels issues du LBMC (Laboratoire de Biologie et Modélisation de la Cellule). Ils ont ensuite été implémentés dans l’intergiciel Diet. Les travaux théoriques décrivant la conception des composants, et les résultats de simulations qui les valident, ont été publié dans des workshops et conférences de portée internationale
The constant development of scientific and industrial computation infrastructures requires the concurrent development of scheduling and deployment mechanisms to manage such infrastructures. Throughout the last decade, the emergence of the Cloud paradigm raised many hopes, but achieving full platformautonomicity is still an ongoing challenge. Work undertaken during this PhD aimed at building a workflow engine that integrated the logic needed to manage workflow execution and Cloud deployment on its own. More precisely, we focus on Cloud solutions with a dedicated Data as a Service (DaaS) data management component. Our objective was to automate the execution of workflows submitted by many users on elastic Cloud resources.This contribution proposes a modular middleware infrastructure and details the implementation of the underlying modules:• A workflow clustering algorithm that optimises data locality in the context of DaaS-centeredcommunications;• A dynamic scheduler that executes clustered workflows on Cloud resources;• A deployment manager that handles the allocation and deallocation of Cloud resources accordingto the workload characteristics and users’ requirements. All these modules have been implemented in a simulator to analyse their behaviour and measure their effectiveness when running both synthetic and real scientific workflows. We also implemented these modules in the Diet middleware to give it new features and prove the versatility of this approach.Simulation running the WASABI workflow (waves analysis based inference, a framework for the reconstruction of gene regulatory networks) showed that our approach can decrease the deployment cost byup to 44% while meeting the required deadlines

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DeFaria, Mark. "Autonomous Infrastructure Based Multihop Cellular Networks." Thesis, 2010. http://hdl.handle.net/1807/24737.

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In a multihop cellular network, mobile terminals have the capability to transmit directly to other mobile terminals enabling them to use other terminals as relays to forward traffic towards the base station. Previous studies of networks consisting of a single cell found that the SINR in a multihop cellular network is slightly lower than in a traditional cellular network. However, multihop cellular networks may have a higher capacity than traditional cellular networks due to their potential for lower intercell interference. For this reason, the effects of intercell interference are investigated in this thesis. Our simulations of a network with many cells show that multihop cellular networks have a higher SINR than traditional cellular networks due to the near elimination of intercell interference. However, multihop cellular networks still suffer from large amounts of interference surrounding the base station because all traffic either emanates or is destined to the base station making it the capacity bottleneck. To resolve this problem, we propose a novel architecture called the autonomous infrastructure multihop cellular network where users can connect their mobile terminals to the backbone network giving them the functionality of an access point. Access points receive traffic from other terminals and send it directly onto the backbone, as would a base station. This reduces the traffic handled by the base station and increases network capacity. Our analysis and simulations show that in autonomous infrastructure multihop cellular networks, the SINR at the base station is higher, the power consumption is lower and the coverage is better than in normal multihop cellular networks. Access points require parameters like their transmission range to be adjusted autonomously to optimal levels. In this thesis, we propose an autonomous pilot power protocol. Our results show that by adjusting a parameter within the protocol, a required coverage level of terminals can be specified and achieved without knowledge of the location or density of mobile terminals. Furthermore, we show that the protocol determines the transmission range that is optimal in terms of SINR and power consumption that achieves the required coverage while effectively eliminating the bottleneck that existed at the base station.

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(6992318), Tariq Usman Saeed. "Road Infrastructure Readiness for Autonomous Vehicles." Thesis, 2019.

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Contemporary research indicates that the era of autonomous vehicles (AVs) is not only inevitable but may be reached sooner than expected; however, not enough research has been done to address road infrastructure readiness for supporting AV operations. Highway agencies at all levels of governments seek to identify the needed infrastructure changes to facilitate the successful integration of AVs into the existing roadway system. Given multiple sources of uncertainty particularly the market penetration of AVs, agencies find it difficult to justify the substantial investments needed to make these infrastructure changes using traditional value engineering approaches. It is needed to account for these uncertainties by doing a phased retrofitting of road infrastructure to keep up with the AV market penetration. This way, the agency can expand, defer, or scale back the investments at a future time. This dissertation develops a real options analysis (ROA) framework to address these issues while capturing the monetary value of investment timing flexibility. Using key stakeholder feedback, an extensive literature review, and discussions with experts, the needed AV-motivated changes in road infrastructure were identified across two stages of AV operations; the transition phase and the fully-autonomous phase. For a project-level case study of a 66-mile stretch of Indiana’s four-six lane Interstate corridor, two potential scenarios of infrastructure retrofitting were established and evaluated using the net present value (NPV) and ROA approaches. The results show that the NPV approach can lead to decisions at the start of the evaluation period but does not address the uncertainty associated with AV market penetration. In contrast, ROA was found to address uncertainty by incorporating investment timing flexibility and capturing its monetary value. Using the dissertation’s framework, agencies can identify and analyze a wide range of possible scenarios of AV-oriented infrastructure retrofitting to enhance readiness, at both the project and network levels.

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(9746357), Justin Anthony Mahlberg. "Evaluating Vehicle Data Analytics for Assessing Road Infrastructure Functionality." Thesis, 2020.

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The Indiana Department of Transportation (INDOT) manages and maintains over 3,000 miles of interstates across the state. Assessing lane marking quality is an important part of agency asset tracking and typically occurs annually. The current process requires agency staff to travel the road and collect representative measurements. This is quite challenging for high volume multi-lane facilities. Furthermore, it does not scale well to the additional 5,200 centerline miles of non-interstate routes.

Modern vehicles now have technology on them called “Lane Keep Assist” or LKA, that monitor lane markings and notify the driver if they are deviating from the lane. This thesis evaluates the feasibility of monitoring when the LKA systems can and cannot detect lane markings as an alternative to traditional pavement marking asset management techniques. This information could also provide guidance on what corridors are prepared for level 3 autonomous vehicle travel and which locations need additional attention.

In this study, a 2019 Subaru Legacy with LKA technology was utilized to detect pavement markings in both directions along Interstates I-64, I-65, I-69, I-70, I-74, I90, I-94 and I-465 in Indiana during the summer of 2020. The data was collected in the right most lane for all interstates except for work zones that required temporary lane changes. The data was collected utilizing two go-pro cameras, one facing the dashboard collecting LKA information and one facing the roadway collecting photos of the user’s experience. Images were taken at 0.5 second frequency and were GPS tagged. Data collection occurred on over 2,500 miles and approximately 280,000 images were analyzed. The data provided outputs of: No Data, Excluded, Both Lanes Not Detected, Right Lane Not Detected, Left Lane Not Detected, and Both Lanes Detected.

The data was processed and analyzed to create spatial plots signifying locations where markings were detectable and locations where markings were undetected. Overall, across 2,500 miles of travel (right lane only), 77.6% of the pavement markings were classified as both detected. The study found

• 2.6% the lane miles were not detected on both the left and right side

• 5.2% the lane miles were not detected on the left side

• 2.0% the lane miles were not detected on the right side 8

Lane changes, inclement weather, and congestion caused 12.5% of the right travel lane miles to be excluded. The methodology utilized in this study provides an opportunity to complement the current methods of evaluating pavement marking quality by transportation agencies.

The thesis concludes by recommending large scale harvesting of LKA from a variety of vendors so that complete lane coverage during all weather and light conditions can be collected so agencies have an accurate assessment of how their pavement markings perform with modern LKA technology. Not only will this assist in identifying areas in need of pavement marking maintenance, but it will also provide a framework for agencies and vehicle OEM’s to initiate dialog on best practices for marking lines and exchanging information.

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(11187051), Yury Kuleshov. "The Study of Behavior of Passenger Car-Semi-Autonomous Trailer Connections under Load." Thesis, 2021.

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A variety of passenger car-trailer connections exist on the market. One specific type of the connections provides a tensile force measurement capability for the purpose of providing feedback for the semi-autonomous trailer’s control system. Semi-autonomous trailer is an innovative technology that can encourage drivers to use smaller vehicles for towing, which will contribute to restoration and improvement of urban infrastructure (NAE Grand Challenges for Engineering, 2020). The vehicle-semi-autonomous trailer connection’s safety concerns depend on multiple factors, but start with either a mechanical, or an electrical failure. The topic of safety of passenger car-semi-autonomous trailer connections is not well present in literature. The connections’ mechanical failures under load are in the focus of this work. The author addressed the following research question and the sub question. How do the existing “passenger car-trailer” connections with tensile force measurement capability compare to one another under load in terms of the possible failure? What is the failure mode of each of the compared connections? The author selected three prototypes from the literature, built three-dimensional (3D) models in SolidWorks 2018 and simulated the tests in the program’s add-on in accordance with the requirements of an industry standard on real-life testing of specific vehicle systems. The author compared the three prototypes by a number of different parameters. The research showed that none of the three existing prototypes are public road-ready in terms of safety. The study can be useful for future designers of passenger-car-semi-autonomous trailer connections.

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KRAJ, ANDREA. "Intelligent computational infrastructures for optimized autonomous distributed energy generation in remote communities." 2015. http://hdl.handle.net/1993/30370.

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Distributed generation along with smart grid applications are poised to make important contributions to the clean-tech sector and remote communities. The dependence on one source for energy supply does not prove reliable enough when the renewable resource, such as wind or solar, is variable, creating a dependence on external fuel supply and a vulnerability to foreign control. Developing an energy strategy through intelligent energy system simulation and optimization can help communities make informed decisions about their energy investments. This dissertation reasons that distributed renewable energy systems without operative computational infrastructures face a fundamental economic challenge derived from their ad-hoc design and implementation. To address this, it proposes the method of Optimal Operational Awareness (OOA)—a feedback mechanism on the state of, and changes in, the properties of the implemented subsystems and their behaviour, to meet users objectives. Despite many applications of hybrid renewable energy systems, and reputable multi-objective evolutionary algorithms (MOEAs) for optimization, no one has applied MOEAs to dynamic system operation for optimized engagement of system components. This thesis describes an application of the NSGA-II algorithm to the multi-objective optimization of the operation of a stand-alone wind-PV-biomass-diesel system with batteries and CAES storage and a central controller. The simultaneous objectives are to minimize the levelized cost of energy (LCOE), and unmet load (UL) while maximizing the renewable energy ratio (RER). This work provides a case-study evaluation from data collected on-site at the island of Fernando de Noronha (FDN), Brazil. The results show that FDN could move from an annual average of 33% RER and LCOE range of $0.26 - $0.36 per kWh to an increased RER range of 60% - 100% and LCOE of $0.10 - $0.50 per kWh, while maintaining UL of 0%, by increasing its renewable energy generation and storage capacity approximately five times. Furthermore, optimal operational awareness for this configuration shows that despite 100% RER, certain periods experience a high LCOE of $2.00 per kWh, resulting from energy spillage due to oversupply, indicating sub-optimal system sizing and wasted energy to trim by improving system configuration. This work concludes that it is possible to achieve 100% RER, but storage and/or backup diesel generation are important to include in systems with highly variable supply. The cost of electricity decreases as renewable energy penetration increases, but is configuration dependent as well dependent on storage state of charge. Oversizing storage can be just as costly, if not more costly, than supplying energy with diesel generation, thus proper sizing and dispatch strategy are critical to achieve economic electricity supply. Furthermore, the role of multiple renewable energy generators in providing autonomous supply can be more valuable to the user than increased supply cost.

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Lousa, Aníbal José Moreira. "Veículos autónomos e conetados - tecnologia e identificação de possíveis alterações na infraestrutura de transporte." Master's thesis, 2018. http://hdl.handle.net/10316/84931.

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Dissertação de Mestrado Integrado em Engenharia Civil apresentada à Faculdade de Ciências e Tecnologia
O número de acidentes e as taxas de mortalidade provenientes das vias de comunicação espalhadas pelo mundo, alcançam valores alarmantes e com aumentos significativos nos últimos anos. Estas ocorrências devem-se substancialmente ao fator humano e à sua própria negligência na condução, alcançando registos na ordem dos 90% na culpabilidade e responsabilidade de desastres rodoviários. A condução autónoma aparece nos anos recentes como uma alternativa ao modo de condução convencional, apresentando grandes expectativas no combate a estes números, permitindo que aumentos na segurança, no conforto, na qualidade do ar e nas capacidades das estradas sejam expetados. No entanto, apesar da tecnologia autónoma, segundo a visão das grandes marcas e fabricantes se encontrar pronta para ser implementada nas estradas, várias barreiras ainda se encontram impostas para que esse fenómeno seja possível, onde questões éticas, morais, legislativas e regulamentares se assumem como as principais dores de cabeça da introdução de autonomia na condução.Assim esta tese, apresentando todas as valências, potencialidades e aproveitamento que os veículos autónomos alcançam, refere o estado atual da tecnologia e a forma como esta é aplicada pelos diferentes intervenientes do sistema de transporte, abordando os problemas que necessitam de regulamentação e homologação e aponta ainda possíveis alterações que a introdução da tecnologia de veículos autónomos poderá originar na infraestrutura rodoviária atual.De modo a sintetizar as potenciais implicações dos veículos autónomos e conectados, apresentam-se duas análises SWOT, uma a nível mais geral e outra a nível da infraestrutura, identificando-se assim os pontos fortes (Strengths), as fraquezas (Weaknesses), as oportunidades (Opportunities) e as ameaças (Threats).É importante salientar que algumas destas alterações dependerão da forma como os veículos autónomos forem introduzidos e aceites pela população em geral, prometendo ser um assunto alvo de bastante polémica no seio da comunidade científica e do público alvo devido à inércia natural na aceitabilidade da autonomia nos sistemas de transporte a que se tem assistido por parte da população, onde uma grande mudança de mentalidade atual em termos de mobilidade é imperativo que ocorra, alterando a ideia do veículo como propriedade para apenas um meio de transporte.
The number of accidents and mortality rates from the lines of communication across the globe, reaching alarming values and with significant increases in recent years. These occurrences are substantially the human factor and to your own negligence in driving, reaching records in the order of 90% on guilt and responsibility of road disasters. Autonomous driving in recent years appears as an alternative to conventional driving mode, showing great expectations in these numbers, allowing increases in security, comfort, air quality and capabilities of the roads are expected.However, despite the autonomous technology, according to the vision of the major brands and manufacturers being ready to be implemented on the roads, many barriers are still imposed so that this phenomenon is possible, where ethical, moral, laws and regulations assume as the major headaches of introducing autonomy in conducting. So this thesis, showing all the skills, potentials and harnessing that autonomous vehicles reach, referred to the current state of technology and how it is applied by the various participants in the transport system, addressing the problems that require regulation and approval and also highlights possible changes that the introduction of autonomous vehicle technology may result in the current road infrastructure.In order to synthesize the potential implications of the autonomous and connected vehicles two SWOT analysis were developed, a more general level and another at the level of infrastructure, identifying the strengths (Strengths), weaknesses (Weaknesses), opportunities (Opportunities) and threats (Threats).It is important to note that some of these changes will depend on the way the autonomous vehicles are introduced and accepted by the general population, promising to be a target of quite controversial within the scientific community and the target audience due to natural inertia on acceptability of autonomy in the transport systems which has been assisted by the population, where a large change of mentality in terms of mobility, it is imperative that occurs, changing the idea of the vehicle as to property just a means of transport.

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Abu, El Samid Nader. "Infrastructure Robotics: A Trade-off Study Examining both Autonomously and Manually Controlled Approaches to Lunar Excavation and Construction." Thesis, 2008. http://hdl.handle.net/1807/17148.

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Abstract:

NASA‘s planned permanent return to the Moon by the year 2018 will demand advances in many technologies. Just as those pioneers who built a homestead in North America from abroad, it will be necessary to use the resources and materials available on the Moon, commonly referred to as in-situ resource utilization. In this concept study, we propose a role for autonomous, multirobot robotic precursor excavation missions that would prepare a lunar site for the arrival of astronauts, serving to establish methods of collecting oxygen, water and various other critical resources. A novel quantitative approach is presented that combines real-time 3D simulation with the use of Artificial Neural Tissues, a machine learning approach that produces autonomous controllers requiring little human supervision. Advantages of the autonomous multirobot approach to excavation over the traditional manually operated single vehicle ones are analyzed in terms of launch mass, power, efficiency, reliability, and overall mission cost.

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Dissertations / Theses on the topic 'Autonomous infrastructure'

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