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1
Agarwal, Megha, Alisha Bandekar, Ashley Kang, Tyler Martis, Hossein Namazyfard, Alan Yeh, Megha Agarwal, et al. "Automotive LiDAR Collision-Avoidance System." Thesis, The University of Arizona, 2017. http://hdl.handle.net/10150/624893.
Full textAbstract:
The project at hand is an Automotive LiDAR Collision Avoidance System sponsored by
Texas Instruments. The purpose of this project is to design and create a LiDAR system
that utilizes Texas Instruments' technology to avoid forward collisions when mounted on
a remote control car. The team is made up of six seniors from the University of Arizona
of four different engineering disciplines including electrical, mechanical, computer, and
optical engineering. The LiDAR Collision avoidance system is designed and built under a
budget constraint of $4,000 and a non-negotiable completion deadline of May 1, 2017,
otherwise known as Design Day.
2
Rennæs, Karsten Fernholt. "Wireless Positioning and Collision Avoidance System." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2012. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-19205.
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Early in the 1980's Jens G. Balchen wanted to create an autonomous bike, capable of driving without any help from supporting wheels or human interaction. The intriguing idea included a variety of complicated concepts and was at that time almost an impossible task to accomplish. As time progressed and both technology and equipment developed, the possibility of a driverless bike becomes more than just an idea. The Norwegian University of Science and Technology (NTNU) has during the later years dedicated resources, time and effort in making a reality of the concept through the project named CyberBike. Every year, clever solutions are brought to the table, adding more functionality and better designs, bringing the project closer to a complete solution of an autonomous bike.The main focus of this thesis has been to develop a system for the bikes positioning system, as well as collision avoidance. It also includes the communication made from the bike to a potential operator via wireless data transfer. The goal is to make a solution for the bike so that it could travel a given route, while communicating important data back to the observers. The task encompasses gathering the information made available by previous work, defining key areas of improvement and designing and testing a proposed solution. First, the overall design is presented, showing how the two circuit boards made as the solution are connected with possible peripherals. The technical communication challenges pertaining the wireless communication is touched upon and relevant concepts are introduced. Furthermore, the selected microcontroller for the system is presented, giving key pointers in specific areas which might be confusing. Different possible devices are then discussed for the positioning system, the wireless communication and different setups of range sensors. Testing done using the equipment explained in the thesis is presented, showing the results of the system. Improvements to the solution are introduced based on the experience obtained through the work, giving a solid basis for further work relating to the subject.
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Li, Huiying. "Visual cueing for collision avoidance system." Thesis, Cranfield University, 2012. http://dspace.lib.cranfield.ac.uk/handle/1826/7927.
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The modern Traffic Alert and Collision Avoidance System (TCAS) used
in airlines today is the TCAS II. It provides pilots with both Traffic
Advisory (TA) and Resolution Advisory (RA) which in turn reduces the incidence
of mid-air collisions. It was demonstrated that TCAS could provide
safety and economy benefits for airlines nowadays. However, as the demand
for commercial air travels increases, it exerted a considerable amount of
strain on the current ‘traditional’ TCAS system. This is primarily due to the
increase in competition for airspace. Trajectory-based TCAS systems have
been proposed to overcome the emerging difficulties with collision avoidance.
To date, TCAS systems only provide vertical 2D guidance for the aircraft,
that is to say, that the pilot only receives a ‘Climb’ or ‘Descend’ indicator
with minimalistic visual cues. The following thesis proposes a new visual
cueing method which integrates 3D trajectory path planning for TCAS system.
In general, Head-up Display (HUD) instrumentation provides the pilot with
primary flight display, navigation and guidance information pertaining to
the aircraft’s states. It is especially useful during the critical flight phases,
such as approach, landing and manoeuvring. Furthermore, as the HUD is
located in the direct front field of view, it allows the pilot to keep his her
head up while performing special tasks. It has been demonstrated that the
HUD adds a substantial safety benefit as well as mitigating pilot workload.
Thus a conceptual HUD has been proposed and was used in this project, the
developed TCAS manoeuvre display and conflict alerts were superimposed
on HUD.
A Boeing 747 aircraft model developed in the MATLAB Simulink environment
has been integrated with a 3D trajectory-based TCAS system. Perspective
projection techniques were addressed for TCAS resolution display
and were developed in Java. The resolution display utilizes 3D tunnel-in-thesky
concept as an advanced visual cue. TCAS traffic indications and aural
announcements were implemented using Java and MATLAB respectively.
The HUD concept was designed in the de-cluttered format in accordance
with FAR 25.1321 SAE ARP5288 standards, and was also developed in
Java language. It maximised compatibility with head down display. Finally,
the impact of the developed visual cueing methods were discussed and assessed through scenario trials.
This thesis presents an account of the work done within the scope. It underlines
the main considerations of the design, how scenarios were implemented
and their measurements. The research indicated that tunnel-in-the-sky was
an appropriate display solution for trajectory-based collision avoidance. It
has the advantage of presenting the predictive flight path in an intuitive and
natural way.
4
Coenen, Frans Pierre. "A rule based collision avoidance system." Thesis, Liverpool John Moores University, 1989. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.237820.
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Strömgren, Oliver. "Deep Learning for Autonomous Collision Avoidance." Thesis, Linköpings universitet, Datorseende, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-147693.
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Deep learning has been rapidly growing in recent years obtaining excellent results for many computer vision applications, such as image classification and object detection. One aspect for the increased popularity of deep learning is that it mitigates the need for hand-crafted features. This thesis work investigates deep learning as a methodology to solve the problem of autonomous collision avoidance for a small robotic car. To accomplish this, transfer learning is used with the VGG16 deep network pre-trained on ImageNet dataset. A dataset has been collected and then used to fine-tune and validate the network offline. The deep network has been used with the robotic car in a real-time manner. The robotic car sends images to an external computer, which is used for running the network. The predictions from the network is sent back to the robotic car which takes actions based on those predictions. The results show that deep learning has great potential in solving the collision avoidance problem.
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Herb, Gregory M. "A real-time robot collision avoidance safety system." Thesis, This resource online, 1990. http://scholar.lib.vt.edu/theses/available/etd-06082009-170801/.
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Tan, Chiew Seon. "A collision avoidance system for autonomous underwater vehicles." Thesis, University of Plymouth, 2006. http://hdl.handle.net/10026.1/2258.
Full textAbstract:
The work in this thesis is concerned with the development of a novel and practical collision avoidance system for autonomous underwater vehicles (AUVs). Synergistically, advanced stochastic motion planning methods, dynamics quantisation approaches, multivariable tracking controller designs, sonar data processing and workspace representation, are combined to enhance significantly the survivability of modern AUVs. The recent proliferation of autonomous AUV deployments for various missions such as seafloor surveying, scientific data gathering and mine hunting has demanded a substantial increase in vehicle autonomy. One matching requirement of such missions is to allow all the AUV to navigate safely in a dynamic and unstructured environment. Therefore, it is vital that a robust and effective collision avoidance system should be forthcoming in order to preserve the structural integrity of the vehicle whilst simultaneously increasing its autonomy. This thesis not only provides a holistic framework but also an arsenal of computational techniques in the design of a collision avoidance system for AUVs. The design of an obstacle avoidance system is first addressed. The core paradigm is the application of the Rapidly-exploring Random Tree (RRT) algorithm and the newly developed version for use as a motion planning tool. Later, this technique is merged with the Manoeuvre Automaton (MA) representation to address the inherent disadvantages of the RRT. A novel multi-node version which can also address time varying final state is suggested. Clearly, the reference trajectory generated by the aforementioned embedded planner must be tracked. Hence, the feasibility of employing the linear quadratic regulator (LQG) and the nonlinear kinematic based state-dependent Ricatti equation (SDRE) controller as trajectory trackers are explored. The obstacle detection module, which comprises of sonar processing and workspace representation submodules, is developed and tested on actual sonar data acquired in a sea-trial via a prototype forward looking sonar (AT500). The sonar processing techniques applied are fundamentally derived from the image processing perspective. Likewise, a novel occupancy grid using nonlinear function is proposed for the workspace representation of the AUV. Results are presented that demonstrate the ability of an AUV to navigate a complex environment. To the author's knowledge, it is the first time the above newly developed methodologies have been applied to an A UV collision avoidance system, and, therefore, it is considered that the work constitutes a contribution of knowledge in this area of work.
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Kalvå, Andreas. "Collision detection and avoidance system based on computer vision." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2014. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-24779.
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A wide selection of stereo matching algorithms have been evaluated for the purpose ofcreating a collision avoidance module. Varying greatly in the accuracy, a few of thealgorithms were fast enough for further use.Two computer vision libraries, OpenCV and MRF, were evaluated for their implementationsof various stereo matching algorithms. In addition OpenCV provides a wide variety offunctions for creating sophisticated computer vision programs and were evaluated onthis basis as well.A stereo camera were constructed using low cost, of-the-shelf web cameras.Two low-power platforms, The Pandaboard and the Beaglebone Black, were evaluated asviable platforms for developing a computer vision module on top. In addition they werecompared to an Intel platform as a reference.Based on the results gathered, a fast, but simple, collision detector could be madeusing the simple block matching algorithm found in OpenCV. A more advanced detectorcould be built using semi-global stereo matching. These were the only implementationsthat were fast enough. The other energy minimization algorithms (Graph cuts and beliefpropagation) did produce good disparity maps, but were too slow for any realisticcollision detector.In order for the low-power platforms to be fast enough, a combination of improvementsmust be used. OpenCV should be compiled with aggressive optimization options enabledwith support for hardware accelerated floating point math. Choice of low-power platformmatters, but it is possible to work around this by reducing the workload.The most effective speedup that enables the low-power platforms were reducing theresolution of the images to be matched. When reducing the size of the sub-problemsenough to align with cache size, considerable speedups were found with littlepenalty in the corresponding disparity map.
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Kon, Tayfun. "Collision Warning and Avoidance System for Crest Vertical Curves." Master's thesis, Virginia Tech, 1998. http://hdl.handle.net/10919/37169.
Full textAbstract:
In recent years, State Road Route 114 which is located in
Montgomery County, Virginia, has gained a bad reputation
because of numerous traffic accidents. Most of these
accidents resulted in loss of lives and property. Although
there are many suggestions and proposals designed to prevent
these acidents, to date no actions is taken yet.
The focus of this research is to explore a technology-based,
low cost solution that will lower or eliminate the risk of
accidents on this two-lane rural highway.Master of Science
10
Gorman, Thomas Ian. "Prospects for the Collision-Free Car: The Effectiveness of Five Competing Forward Collision Avoidance Systems." Thesis, Virginia Tech, 2013. http://hdl.handle.net/10919/24721.
Full textAbstract:
Rear-end collisions in which the leading vehicle was stationary prior to impact and at least one vehicle was towed from the crash site represent 18% of all yearly crashes in the United States. Forward Collision Avoidance Systems (FCASs) are becoming increasingly available in production vehicles and have a great potential for preventing or mitigating rear-end collisions. The objective of this study was to compare the effectiveness of five crash avoidance algorithms that are similar in design to systems found on production vehicles of model year 2011. To predict the effectiveness of each algorithm, this study simulated a representative sample of rear-end collisions as if the striking vehicle was equipped with each FCAS.
In 2011, the ADAC (Allgemeiner Deutscher Automobil-Club e.V) published a test report comparing advanced emergency braking systems. The ADAC tested production vehicles of model year 2011 made by Audi, BMW, Infiniti, Volvo, and VW. The ADAC test results were used in conjunction with video evidence and owner's manual information to develop mathematical models of five different FCASs. The systems had combinations of Forward Collision Warning (FCW), Assisted Braking (AB), and Autonomous Emergency Braking (AEB).
The effectiveness of each modeled system was measured by its ability to prevent collisions or reduce the collision severity of reconstructed crashes. In this study, 977 rear-end crashes that occurred from 1993 to 2008 were mathematically reconstructed. These crashes were investigated as part of NHTSA's National Automotive Sampling System, Crashworthiness Data System (NASS/CDS). These crashes represent almost 800,000 crashes during that time period in which the struck vehicle was stationary. Part of the NASS/CDS investigation was to reconstruct the vehicle change in velocity during impact, ∆V. Using energy and Newtonian based methods, the ∆V in each crash was calculated as if the vehicle was equipped with each modeled FCAS. Using the predicted reduction in crash ∆V, the expected reduction in the number of moderately-to-fatally injured (MAIS2+) drivers was predicted.
This study estimates that the most effective FCAS model was the Volvo algorithm which could potentially prevent between 79% and 92% of the crashes simulated in this study and between 76% and 94% of associated driver injuries. This study estimates that the BMW algorithm would prevent the fewest number of crashes (between 11% and 14%), but would provide admirable benefits to driver safety by preventing between 21% and 25% of driver injuries. The VW algorithm would be the least effective at preventing driver injuries if the system were to be implemented across the U.S. fleet. This algorithm offers a 19% reduction in crashes, but only prevents 15% of driver injuries.
This study introduces and demonstrates a unique method of comparing potential benefits of competing FCAS algorithms. This method could be particularly useful to system designers for comparing the expected effects of design decisions on safety performance. This method could also be useful to government officials who wish to evaluate the effectiveness of FCASs.Master of Science
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Gois, Jorge Audrin Morgado de. "Sensor based collision avoidance system for the walking machine ALDURO." [S.l.] : [s.n.], 2005. http://deposit.ddb.de/cgi-bin/dokserv?idn=983060940.
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Björkman, Patrik, and Hedman Lars Odens. "Development of a collision avoidance system for a videoconferencing robot." Thesis, Mälardalen University, School of Innovation, Design and Engineering, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-7703.
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The work presented in this paper is about the development of a collision avoidance systemfor a mobile telepresence robot developed by the company Gira technologies AB.The robot is designed to extend the length of time elderly can stay in their homes beforerequiring full-time staed care. The collision avoidance system is needed to help the userto avoid running in to objects or down a stairway. The design must be capable of beingimplemented at low cost, and should not look overtly "robotic" as this would not resultin an appealing industrial design.
Herein, dierent techniques are presented and analyzed to nd the best suitable solutionfor the robot. In particular a lot of work is done in taking measurements to nd theright characteristics for the sensors according dierent mounting angles, dierent objectsand distances. A solution is chosen and calculations are made to nd the best positionsto place the sensors to get the best results.
A complete solution is presented and implemented in the current system and testedto work as expected.
13
Miller, Keith McGowan. "A navigation and automatic collision avoidance system for marine vehicles." Thesis, University of Plymouth, 1990. http://hdl.handle.net/10026.1/2503.
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Collisions and groundings at sea still occur, and can result in financial loss, loss of life, and damage to the environment. Due to the size and capacity of moden vessels, damage can be extensive. Statistics indicate that the primary cause of accidents at sea is human error, which is often attributed to misinterpretation of the information presented to the mariner. Until recently, data collected from sensors about the vessel were displayed on the bridge individually, leaving the mariner to assimilate the material, make decisions and alter the vessels controls as appropriate. With the advent of the microprocessor a small amount of integration has taken place, but not to the extent that it has in other industries, for example the aerospace industry. This thesis presents a practical method of integrating all the navigation sensors. Through the use of Kalman filtering, an estimate of the state of the vessel is obtained using all the data available. Previous research in this field has not been implemented due to the complexity of the ship modelling process required, this is overcome by incorporating a system identification proceedure into the filter. The system further reduces the demands on the mariner by applying optimal control theory to guide the vessel on a predetermined track. Hazards such as other vessels are not incorporated into this work but they are specified in further research. Further development work is also required to reduce computation time.
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Sayed, Mohamed Farghaly. "A study of a decision-making system for collision avoidance." Thesis, Southampton Solent University, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.310976.
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Jia, Yanbo. "An automated cyclist collision avoidance system for heavy goods vehicles." Thesis, University of Cambridge, 2015. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.708620.
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Every, Joshua Lee. "Development of a Driver Behavior Based Active Collision Avoidance System." The Ohio State University, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=osu1429800895.
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Gonzalez-Carrascosa, Partida Ricardo. "Optimizing manoeuvres for long collision avoidance active system of a car." Thesis, Högskolan i Skövde, Institutionen för teknik och samhälle, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-8502.
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This project presents the development of a collision avoidance active system for cars.There is a large interest in developing avoidance system in the automotive industry since the accidents are of such nature that can be avoided if the system works as desirable e.g., in animal crossing or having the car in front stopping without the driver noticing. A control system is designed to avoid collisions by acting on the steer and brakes of a car. An algorithm is developed to optimize a fuzzy logic controller which actuates on the steer and brakes of the car. The algorithm optimizes the inputs of the car, i.e. steer and brake, to avoid the collision with the object. The optimization of the trajectory implies that the car returns to the original lane and it is the minimum time possible inthe other lane. The object is situated at different distances and the initial speed of the car also varies depending on the situations. The results are obtained by using a car model that is developed in this project in conjunction with the tyre model, [1]. Simulations show that it performs collision avoidance manoeuvres in different conditions. Furthermore, improvements of the present work are suggested that are believed to further enhance the presented algorithm.
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Subramaniam, Kumanan. "Vision based motion tracking and collision avoidance system for vehicle navigation." Thesis, University of Newcastle Upon Tyne, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.246656.
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Wang, Haoan. "Control System Design for Autonomous Vehicle Path Following and Collision Avoidance." The Ohio State University, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=osu1543237990740835.
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Howells, Christopher Corey. "Game-Theoretic Approach with Cost Manipulation to Vehicular Collision Avoidance." Thesis, Virginia Tech, 2004. http://hdl.handle.net/10919/42802.
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Collision avoidance is treated as a game of two players with opposing desiderata. In the application to automated car-like vehicles, we will use a differential game in order to model and assess a worst-case analysis. The end result will be an almost analytic representation of a boundary between a â safeâ set and a â unsafeâ set. We will generalize the research in [27] to non-identical players and begin the setup of the boundary construction. Then we will consider the advantages and disadvantages of manipulation of the cost function through the solution and control techniques. In particular, we introduce a possible way to incorporate a secondary objective such as sticking to a straight path. We also look a hybrid technique to reduce steering when the opposing player is out of the reach of the vehicle; i.e., is out of the â unsafeâ set and less extreme maneuvers may be desired.
We first look at a terminal cost formulation and through retrograde techniques may shape this boundary between the â safeâ and â unsafeâ set. We would like this research, or part thereof, to be assessed and simulated on a simulation vehicle such as that used in the Flexible Low-cost Automated Scaled Highway (FLASH) at the Virginia Tech Transportation Institute (VTTI). In preparation, we briefly look at the sensor demands from this game-theoretic approach.Master of Science
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Xu, Ziwei. "LTL Motion Planning with Collision Avoidance for A Team of Quadrotors." Thesis, KTH, Skolan för elektro- och systemteknik (EES), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-196904.
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Linear Temporal Logic (LTL), as one of the temporal logic, can generate a fully automated correct-by-design controller synthesis approach for single or multiple autonomous vehicles, under much more complex missions than the traditional point-to-point navigation.In this master thesis, a framework which combines model- checking-based robot motion planning with action planning is proposed based on LTL for-mulas. The specifications implicitly require both sequential regions for multi-agent to visit and the desired actions to perform at these regions while avoid-ing collision with each other and fixed obstacles. The high level motion and task planning and low level navigation function based collision avoidance controller are verified by nontrivial simulation and implementation on real quadcopter in Smart Mobility Lab.
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Huang, Geng S. M. Massachusetts Institute of Technology. "Computation of safety control for hybrid system with applications to intersection collision avoidance system." Thesis, Massachusetts Institute of Technology, 2015. http://hdl.handle.net/1721.1/101543.
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Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2015.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 69-74).
In this thesis, I consider the problem of designing a collision avoidance system for the scenario in which two cars approach an intersection from perpendicular directions. One of the cars is a human driven vehicle, and the other one is a semi-autonomous vehicle, equipped with a driver-assist system. The driver-assist system should warn the driver of the semi-autonomous vehicle to brake or accelerate if potential dangers of collision are detected. Then, if the system detects that the driver disobeys the warning, the system can override the behavior of the driver to guarantee safety if necessary. A hybrid automaton model with hidden modes is used to solve the problem. A disturbance estimator is used to estimate the driver's reaction to the warning. Then, with the help of a mode estimator, the hybrid system with hidden modes is translated to a hybrid system with perfect state information. Finally, we generalize the solution for the application example to the solution of safety control problem for general hybrid system with hidden modes when the hybrid system satisfies some proposed constraints and assumptions.
by Geng Huang.
S.M.
23
Fitch, Gregory M. "Driver Comprehension of Integrated Collision Avoidance System Alerts Presented through a Haptic Driver Seat." Diss., Virginia Tech, 2008. http://hdl.handle.net/10919/26281.
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Active safety systems that warn automobile drivers of various types of impending collisions have been developed. How these systems alert drivers when integrated, however, is a crucial component to their effectiveness that hinges on the consideration of human factors. Driversâ ability to comprehend multiple alerts presented through a haptic driver seat was investigated in this dissertation. Twenty-four participants, balanced for age and gender, drove an instrumented vehicle on a test-track while haptic alerts (vibrations in the driver seat) were generated. Driversâ ability to transmit the information conveyed by the alerts was investigated through two experiments. The first experiment investigated the effects of increasing the number of potential alerts on driversâ response performance. The second experiment investigated whether presenting haptic alerts through unique versus common locations in the driver seat affects driversâ response performance. Younger drivers (between the ages of 18 and 25 years old) were found to efficiently process the increased information contained in the alerts, while older drivers were not as efficient. However, it is foreseeable that older driver performance decrements may be assuaged when a crash context is provided. A third experiment evaluated the haptic driver seatâ s ability to alert distracted drivers to an actual crash threat. Drivers that received a haptic seat alert returned their gaze to the forward roadway sooner, removed their foot from the throttle sooner, pressed the brake pedal sooner, and stopped farther away from an inflatable barricade than drivers that did not receive a haptic seat alert. No age or gender effects were found in this experiment. Furthermore, half of the drivers that received the haptic seat alert lifted up on the throttle before returning their eyes to the forward roadway. This suggests these drivers developed an automatic response to the haptic seat alerts through their experience with the previous two experiments. A three-alert haptic seat approach, the intermediate alternative tested, is recommended providing specific design requirements are met.Ph. D.
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Ortman, Victor, and Petter Gradin. "Development of a Collision Avoidance Truck System from a Functional Safety Perspective." Thesis, Linköpings universitet, Institutionen för systemteknik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-71854.
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ISO 26262 is a functional safety standard under development at the time of this thesis. It is an adaptation of the functional safety standard IEC 61508, aimed at development of automotive electrical/electronic systems. The version of ISO-26262 that was used and discussed in this thesis is the final draft released in January 2011. In this thesis, a subset of ISO-26262 is applied in the development of a safety critical driver assistance system for a Scania vehicle. The parts of ISO-26262 that are treated are Part 3: Concept phase, Part 4: Product development at the system level and Part 5: Product development at the hardware level. Throughout the thesis we evaluate ISO-26262 and report our experience of working with it. The driver assistance system under development, which ISO-26262 is applied to, is Collision Avoidance by Steering, a system that aims to avoid or mitigate rear-end collisions with vehicles in front by automatic steering of the vehicle.
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Smith, Kyle A. (Kyle Alexander). "Collision avoidance system optimization for closely spaced parallel operations through surrogate modeling." Thesis, Massachusetts Institute of Technology, 2013. http://hdl.handle.net/1721.1/82491.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2013.This electronic version was submitted and approved by the author's academic department as part of an electronic thesis pilot project. The certified thesis is available in the Institute Archives and Special Collections.
"June 2013." Cataloged from department-submitted PDF version of thesis
Includes bibliographical references (p. 103-106).
The Traffic Alert and Collision Avoidance System (TCAS) is mandated worldwide to protect against aircraft mid-air collisions. One drawback of the current TCAS design is limited support for certain closely spaced parallel runway operations. TCAS alerts too frequently, leading pilots to often inhibit Resolution Advisories during approach. Research is underway on the Airborne Collision Avoidance System X (ACAS X), a next-generation collision avoidance system that will support new surveillance systems and air traffic control procedures. ACAS X has been shown to outperform TCAS for enroute encounter scenarios. However, the design parameters that are tuned for the enroute environment are not appropriate for closely spaced parallel operations (CSPO). One concept to enhance the safety of CSPO is a procedure-specific mode of the logic that minimizes nuisance alerts while still providing collision protection. This thesis describes the application of surrogate modeling and automated search for the purpose of tuning ACAS X for parallel operations. The performance of the tuned system is assessed using a data-driven blunder model and an operational performance model. Although collision avoidance system development normally relies on human judgment and expertise to achieve ideal behavior, surrogate modeling is efficient and effective in tuning ACAS X for CSPO as the tuned logic outperforms TCAS in terms of both safety and operational suitability
by Kyle A. Smith.
S.M.
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Langner, Martin. "Effort reduction and collision avoidance for powered wheelchairs : SCAD assistive mobility system." Thesis, University of Portsmouth, 2012. https://researchportal.port.ac.uk/portal/en/theses/effort-reduction-and-collision-avoidance-for-powered-wheelchairs(c74881c9-5c63-44e5-ba19-b2cf5d862c18).html.
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The new research described in this dissertation created systems and methods to assist wheelchair users and provide them with new realistic and interesting driving opportunities. The work also created and applied novel effort reduction and collision avoidance systems and some new electronic interactive devices. A Scanning Collision Avoidance Device (SCAD) was created that attached to standard powered wheelchairs to help prevent children from driving into things. Initially, mechanical bumpers were used but they made many wheelchairs unwieldy, so a novel system that rotated a single ultra-sonic transducer was created. The SCAD provided wheelchair guidance and assisted with steering. Optical side object detectors were included to cover blind spots and also assist with doorway navigation. A steering lockout mode was also included for training, which stopped the wheelchair from driving towards a detected object. Some drivers did not have sufficient manual dexterity to operate a reverse control. A reverse turn manoeuvring mode was added that applied a sequential reverse and turn function, enabling a driver to escape from a confined situation by operating a single turn control. A new generation of Proportional SCAD was created that operated with proportional control inputs rather than switches and new systems were created to reduce veer, including effort reduction systems. New variable switches were created that provided variable speed control in place of standard digital switches and all that research reduced the number of control actions required by a driver. Finally, some new systems were created to motivate individuals to try new activities. These included a track guided train and an adventure playground that including new interactive systems. The research was initially inspired by the needs of young people at Chailey Heritage, the novel systems provided new and more autonomous driving opportunities for many powered wheelchair users in less structured environments.
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Li, Yang. "Scene Recognition and Collision Avoidance System for Robotic Combine Harvesters Based on Deep Learning." Kyoto University, 2020. http://hdl.handle.net/2433/259052.
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Chen, Rong. "Driver Behavior in Car Following - The Implications for Forward Collision Avoidance." Diss., Virginia Tech, 2016. http://hdl.handle.net/10919/71785.
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Forward Collision Avoidance Systems (FCAS) are a type of active safety system which have great potential for rear-end collision avoidance. These systems use either radar, lidar, or cameras to track objects in front of the vehicle. In the event of an imminent collision, the system will warn the driver, and, in some cases, can autonomously brake to avoid a crash. However, driver acceptance of the systems is paramount to the effectiveness of a FCAS system. Ideally, FCAS should only deliver an alert or intervene at the last possible moment to avoid nuisance alarms, and potentially have drivers disable the system. A better understanding of normal driving behavior can help designers predict when drivers would normally take avoidance action in different situations, and customize the timing of FCAS interventions accordingly. The overall research object of this dissertation was to characterize normal driver behavior in car following events based on naturalistic driving data.
The dissertation analyzed normal driver behavior in car-following during both braking and lane change maneuvers. This study was based on the analysis of data collected in the Virginia Tech Transportation Institute 100-Car Naturalistic Driving Study which involved over 100 drivers operating instrumented vehicles in over 43,000 trips and 1.1 million miles of driving. Time to Collision in both braking and lane change were quantified as a function of vehicle speed and driver characteristics. In general, drivers were found to brake and change lanes more cautiously with increasing vehicle speed. Driver age and gender were found to have significant influence on both time to collision and maximum deceleration during braking. Drivers age 31-50 had a mean braking deceleration approximately 0.03 g greater than that of novice drivers (age 18-20), and female drivers had a marginal increase in mean braking deceleration as compared to male drivers. Lane change maneuvers were less frequent than braking maneuvers. Driver-specific models of TTC at braking and lane change were found to be well characterized by the Generalized Extreme Value distribution. Lastly, driver's intent to change lanes can be predicted using a bivariate normal distribution, characterizing the vehicle's distance to lane boundary and the lateral velocity of the vehicle.
This dissertation presents the first large scale study of its kind, based on naturalistic driving data to report driver behavior during various car-following events. The overall goal of this dissertation is to provide a better understanding of driver behavior in normal driving conditions, which can benefit automakers who seek to improve FCAS effectiveness, as well as regulatory agencies seeking to improve FCAS vehicle tests.Ph. D.
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Tuttell, Robert Joseph. "Human factors aspects of the Traffic Alert and Collision Avoidance System (TCAS II)." Thesis, Monterey, California : Naval Postgraduate School, 1988. http://hdl.handle.net/10945/23047.
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The objective of this study was to investigate three areas of interaction between pilots and the TCAS II Collision Avoidance System in order to examine the following areas of concern: (1) Did pilots maneuver on traffic advisory (TA) information? (2) Did the pilots' use of the system increase the miss distance between conflicting aircraft? (3) Would an alternate design for the resolution advisory (RA) display be more effective than the current display? The first two questions were answered with data obtained from a NASA-Ames simulation using airline crews and a Boeing 727 flight simulator. Evaluation of these data reveal 14 incidents were pilots successfully maneuvered their aircraft using TA information. Forty scenarios where the TCAS II system directed evasive maneuvers were examined. These results show that the recommended avoidance maneuvers increased aircraft miss distance in 37 cases. Alternate designs for the resolution advisory display were evaluated using military and civilian pilots reacting to a computer display simulation. These results demonstrate that a 'red and green' RA display is more effective than the current 'red only' RA display. Keywords: Air traffic control systems, Theses. (sdw)
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Kara, Kerim [Verfasser], and Jan [Akademischer Betreuer] Stallkamp. "Adaptive Collision Avoidance System for Contemporary Therapy Suites / Kerim Kara ; Betreuer: Jan Stallkamp." Heidelberg : Universitätsbibliothek Heidelberg, 2021. http://d-nb.info/1237324025/34.
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Blanchard, Jonathan Mark. "Collision avoidance : a biologically inspired neural network for the detection of approaching objects." Thesis, University of Newcastle upon Tyne, 1998. http://hdl.handle.net/10443/3590.
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The frequently studied lobula giant movement detector (LGMD) system of the locust responds most strongly to approaching objects. This thesis describes simulations which were designed with the ultimate aim of constructing a comprehensive model of the neural circuitry showing the effects of individual neurons on the overall responses of the system. The Rind and Bramwell neural network model of the LGMD was studied using new stimuli which revealed that the responses of the model are dependent on the shape of the stimulus. A modification of the model removes this dependence and allows the model to respond to more complex stimuli. Two models of a locust photoreceptor were developed with the aim of producing a detailed model of a light-adapting photoreceptor which could be used to study the responses of the LGMD to natural scenes. The first model, an electrical model of the cell membrane which describes the principal ionic conductances, was found to be overly complex for use in large scale simulations. However, the model was used to calculate from the photoreceptor's impulse response the average conductance change produced by individual photons. The second photoreceptor model, which is suitable for large scale simulations, uses two leaky integrators to mimic the effects of light adaptation on the photoreceptor's response. An electrical model of the lamina region of the optic lobe allowed the proposal that inhibition in the lamina is produced by electrical presynaptic inhibition to be studied, along with the possible effects of this inhibition on the visual input to the LGMD. The responses of the model correspond well with those measured from the LMCs of locusts and other insects, and their implications for the LGMD system are discussed.
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Sanchez, Julian. "Factors that affect trust and reliance on an automated aid." Diss., Available online, Georgia Institute of Technology, 2006, 2006. http://etd.gatech.edu/theses/available/etd-03302006-115459/.
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Thesis (Ph. D.)--Psychology, Georgia Institute of Technology, 2006.Ute Fischer, Committee Member ; Jerry R. Duncan, Committee Member ; Gregory Corso, Committee Member ; Wendy A. Rogers, Committee Member ; Arthur D. Fisk, Committee Chair.
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Fleming, Elizabeth Scott. "Developing a training program for the traffic alert and collision avoidance system in context." Thesis, Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/47578.
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The Traffic alert and Collision Avoidance System (TCAS) is an aircraft collision avoidance system designed to prevent mid-air collisions. During an advisory, danger is imminent, and TCAS is assumed to have better, more up-to-date information than the ground operated air traffic control (ATC) facility. Following a TCAS RA is generally the safe course of action during an advisory. However, pilot compliance with RAs is surprisingly low. Results from a TCAS monitoring study show pilots are not complying with many TCAS advisories. As revealed by pilot-submitted Aviation Safety Reporting System (ASRS) reports, this noncompliance could be attributed, in part, to pilot confusion to TCAS operation as well as misunderstandings of the appropriate response to a TCAS issued advisory.
This thesis details the development and evaluation of a TCAS training program intended to improve pilots' understanding of TCAS use for collision avoidance in a range of traffic situations. The training program integrated Demonstration Based and Event Based Training techniques. Its efficacy was analyzed in an integrated ATC-cockpit simulator study in which eighteen commercial airline pilots were asked to complete the TCAS training program and afterwards experienced twelve experimental traffic events. The trained pilots' performance was compared to the performance of 16 baseline pilots who did not receive the modified training.
Overall, the training program did have a significant impact on the pilots' behavior and response to TCAS advisories. The measure Time Pilots First Achieved Compliance decreased with the trained pilots, as did the measure Autopilot Disconnect Time After RA Initiation. Trained pilots exhibited less aggressive performance in response to a TCAS RA (including a decrease in the measures Altitude Deviation Over Duration Of RA, Average Vertical Rate Difference, Maximum Vertical Rate Difference, and Maximum Vertical Rate). The measure Percent Compliance did not significantly vary between trained and baseline pilots, although trained pilots had a more consistent response in the traffic event with conflicting ATC guidance. Finally, on the post-experiment questionnaires, pilots commented on their increase in understanding of TCAS as well as an increase in their trust in the advisory system.
Results of this research inform TCAS training objectives provided by the FAA as well as the design of TCAS training. Additionally, conclusions extend more broadly to improved training techniques for other similar complex, time-critical situations.
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Broom, Ward Pafford. "The Development of a vision based collision avoidance system for a four-axis robot." Thesis, Georgia Institute of Technology, 1985. http://hdl.handle.net/1853/17797.
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Sahawneh, Laith Rasmi. "Airborne Collision Detection and Avoidance for Small UAS Sense and Avoid Systems." BYU ScholarsArchive, 2016. https://scholarsarchive.byu.edu/etd/5840.
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The increasing demand to integrate unmanned aircraft systems (UAS) into the national airspace is motivated by the rapid growth of the UAS industry, especially small UAS weighing less than 55 pounds. Their use however has been limited by the Federal Aviation Administration regulations due to collision risk they pose, safety and regulatory concerns. Therefore, before civil aviation authorities can approve routine UAS flight operations, UAS must be equipped with sense-and-avoid technology comparable to the see-and-avoid requirements for manned aircraft. The sense-and-avoid problem includes several important aspects including regulatory and system-level requirements, design specifications and performance standards, intruder detecting and tracking, collision risk assessment, and finally path planning and collision avoidance. In this dissertation, our primary focus is on developing an collision detection, risk assessment and avoidance framework that is computationally affordable and suitable to run on-board small UAS. To begin with, we address the minimum sensing range for the sense-and-avoid (SAA) system. We present an approximate close form analytical solution to compute the minimum sensing range to safely avoid an imminent collision. The approach is then demonstrated using a radar sensor prototype that achieves the required minimum sensing range. In the area of collision risk assessment and collision prediction, we present two approaches to estimate the collision risk of an encounter scenario. The first is a deterministic approach similar to those been developed for Traffic Alert and Collision Avoidance (TCAS) in manned aviation. We extend the approach to account for uncertainties of state estimates by deriving an analytic expression to propagate the error variance using Taylor series approximation. To address unanticipated intruders maneuvers, we propose an innovative probabilistic approach to quantify likely intruder trajectories and estimate the probability of collision risk using the uncorrelated encounter model (UEM) developed by MIT Lincoln Laboratory. We evaluate the proposed approach using Monte Carlo simulations and compare the performance with linearly extrapolated collision detection logic. For the path planning and collision avoidance part, we present multiple reactive path planning algorithms. We first propose a collision avoidance algorithm based on a simulated chain that responds to a virtual force field produced by encountering intruders. The key feature of the proposed approach is to model the future motion of both the intruder and the ownship using a chain of waypoints that are equally spaced in time. This timing information is used to continuously re-plan paths that minimize the probability of collision. Second, we present an innovative collision avoidance logic using an ownship centered coordinate system. The technique builds a graph in the local-level frame and uses the Dijkstra's algorithm to find the least cost path. An advantage of this approach is that collision avoidance is inherently a local phenomenon and can be more naturally represented in the local coordinates than the global coordinates. Finally, we propose a two step path planner for ground-based SAA systems. In the first step, an initial suboptimal path is generated using A* search. In the second step, using the A* solution as an initial condition, a chain of unit masses connected by springs and dampers evolves in a simulated force field. The chain is described by a set of ordinary differential equations that is driven by virtual forces to find the steady-state equilibrium. The simulation results show that the proposed approach produces collision-free plans while minimizing the path length. To move towards a deployable system, we apply collision detection and avoidance techniques to a variety of simulation and sensor modalities including camera, radar and ADS-B along with suitable tracking schemes.
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Viquez, Rojas Oscar Alberto. "Deployment of a passive acoustic detection system for reactive collision avoidance in autonomous underwater vehicles." Thesis, Massachusetts Institute of Technology, 2017. http://hdl.handle.net/1721.1/111902.
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Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2017.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 75-76).
The use of autonomous vehicles in air, land and water has grown in recent years, with increased attention given to heavily transited areas. For the case of autonomous underwater vehicles, these regions of interest include harbors and river basins where the risk of collision rapidly increases with the number of ships. This thesis presents a collision avoidance system based on passive acoustic sensing, which may be used to alert an AUV's autonomy software of the threat that an approaching vessel may represent in such shallow water environments. Experiments were conducted to collect and process data from static and vehicle-mounted hydrophone arrays, and preliminary measurements were post-processed using various signal smoothing and data-fitting techniques. Results were then compared with a mathematical model used to describe the expected sound propagation profile, to identify how the system was limited by disturbances in the test conditions, such as variable ship speed and bearing, with respect to the vehicle's frame of reference. The benefits and limitations of each data processing approach were identified, and are herein discussed through three separate case studies to highlight the benefit of parallel-model fitting. A Bluefin SandShark AUV was used for a series of deployments performed to test the vehicle's ability to change behaviors in response to approaching vessels that present a chance of collision, relying exclusively on this passive sensing system as the alarm trigger. During the final autonomous behavior-response experiments spanning six distinct deployments, a total of 21 successful alarm triggers were recorded in the vehicle logs, along with a cumulative 142 minutes of acoustic data.
by Oscar Alberto Viquez Rojas.
S.M.
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AMRIK, SINGH PHUMAN SINGH. "Autonomous Collision Avoidance by Lane Change Maneuvers using Integrated Chassis Control for Road Vehicles." Kyoto University, 2019. http://hdl.handle.net/2433/242443.
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Klaus, Robert Andrew. "Development of a Sense and Avoid System for Small Unmanned Aircraft Systems." BYU ScholarsArchive, 2013. https://scholarsarchive.byu.edu/etd/3761.
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Unmanned aircraft systems (UAS) represent the future of modern aviation. Over the past 10 years their use abroad by the military has become commonplace for surveillance and combat. Unfortunately, their use at home has been far more restrictive. Due to safety and regulatory concerns, UAS are prohibited from flying in the National Airspace System without special authorization from the FAA. One main reason for this is the lack of an on-board pilot to "see and avoid" other air traffic and thereby maintain the safety of the skies. Development of a comparable capability, known as "Sense and Avoid" (SAA), has therefore become a major area of focus. This research focuses on the SAA problem as it applies specifically to small UAS. Given the size, weight, and power constraints on these aircraft, current approaches fail to provide a viable option. To aid in the development of a SAA system for small UAS, various simulation and hardware tools are discussed. The modifications to the MAGICC Lab's simulation environment to provide support for multiple agents is outlined. The use of C-MEX s-Functions to improve simulation performance and code portability is also presented. For hardware tests, two RC airframes were constructed and retrofitted with autopilots to allow autonomous flight. The development of a program to interface with the ground control software and run the collision avoidance algorithms is discussed as well. Intruder sensing is accomplished using a low-power, low-resolution radar for detection and an Extended Kalman Filter (EKF) for tracking. The radar provides good measurements for range and closing speed, but bearing measurements are poor due to the low-resolution. A novel method for improving the bearing approximation using the raw radar returns is developed and tested. A four-state EKF used to track the intruder's position and trajectory is derived and used to provide estimates to the collision avoidance planner. Simulation results and results from flight tests using a simulated radar are both presented. To effectively plan collision avoidance paths a tree-branching path planner is developed. Techniques for predicting the intruder position and creating safe, collision-free paths using the estimates provided by the EKF are presented. A method for calculating the cost of flying each path is developed to allow the selection of the best candidate path. As multiple duplicate paths can be created using the branching planner, a strategy to remove these paths and greatly increase computation speed is discussed. Both simulation and hardware results are presented for validation.
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Cosentino, Andrea. "Obstacle detection & collision avoidance system for an Unmanned Aerial Vehicle with real time trajectory generation." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019.
Find full textAbstract:
This thesis work presents a preliminary design of a detection and avoidance system for an Unmanned Aerial Vehicle (UAV).
The code realized is capable to sense cooperative aircraft surrounding the UAV and to avoid them in a complete autonomous way.
The detection of the aircraft is made by the elaboration of the information that they share in the medium.
On the other hand, the generation of the trajectories to avoid the collisions is treated using a geometrical approach and dealing with different scenarios: no-moving obstacle, moving obstacle, multiple obstacles and terrain collision avoidance.
With the so called point mass model, the controls to obtain the generated trajectory are found accordantly with the main literature.
The proposed solution can be used for almost any kind of UAV that shall operate in civil air space.
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Jackson, Kimberly F. "Development and evaluation of a collision avoidance system for supervisory control of a micro aerial vehicle." Thesis, Massachusetts Institute of Technology, 2012. http://hdl.handle.net/1721.1/76093.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2012.Cataloged from PDF version of thesis.
Includes bibliographical references (p. 195-108).
Recent technological advances have enabled Unmanned Aerial Vehicles (UAVs) and Micro Aerial Vehicles (MAVs) to become increasingly prevalent in a variety of domains. From military surveillance to disaster relief to search-and-rescue tasks, these systems have the capacity to assist in difficult or dangerous tasks and to potentially save lives. To enable operation by minimally trained personnel, the control interfaces require increased usability in order to maintain safety and mission effectiveness. In particular, as these systems are used in the real world, the operator must be able to navigate around obstacles in unknown and unstructured environments. In order to address this problem, the Collision and Obstacle Detection and Alerting (CODA) display was designed and integrated into a smartphone-based MAV control interface. The CODA display uses a combination of visual and haptic alerts to warn the operator of potential obstacles in the environment to help the operator navigate more effectively and avoid collisions. To assess the usability of this system, a within-subjects experiment was conducted in which participants used the mobile interface to pilot a MAV both with and without the assistance of the CODA display. The task consisted of navigating though a simulated indoor environment and locating visual targets. Metrics for the two conditions examined performance, control strategies, and subjective feedback from each participant. Overall, the addition of the CODA display resulted in higher performance, lowering the crash rate and decreasing the amount of time required to complete the tasks. Despite increasing the complexity of the interface, adding the CODA display did not significantly impact usability, and participants preferred operating the MAV with the CODA display. These results demonstrate that the CODA display provides the basis for an effective alerting tool to assist with MAV operation for exploring unknown environments. Future work should explore expansion to three-dimensional sensing and alerting capabilities as well as validation in an outdoor environment.
by Kimberly F. Jackson.
S.M.
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Kotte, Jens, Carsten Schmeichel, Adrian Zlocki, Hauke Gathmann, and Lutz Eckstein. "Concept of an enhanced V2X pedestrian collision avoidance system with a cost function–based pedestrian model." Taylor & Francis, 2017. https://publish.fid-move.qucosa.de/id/qucosa%3A72238.
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Objective: State-of-the-art collision avoidance and collision mitigation systems predict the behavior of pedestrians based on trivial models that assume a constant acceleration or velocity. New sources of sensor information—for example, smart devices such as smartphones, tablets, smartwatches, etc.—can support enhanced pedestrian behavior models. The objective of this article is the development and implementation of a V2Xpedestrian collision avoidance system that uses new information sources.
Methods: A literature review of existing state-of-the-art pedestrian collision avoidance systems, pedestrian behavior models in advanced driver assistance systems (ADAS), and traffic simulations is conducted together with an analysis of existing studies on typical pedestrian patterns in traffic. Based on this analysis, possible parameters for predicting pedestrian behavior were investigated. The results led to new requirements from which a concept was developed and implemented.
Results: The analysis of typical pedestrian behavior patterns in traffic situations showed the complexity of predicting pedestrian behavior. Requirements for an improved behavior prediction were derived. A concept for a V2X collision avoidance system, based on a cost function that predicts pedestrian near future presence, and its implementation is presented. The concept presented considers several challenges such as information privacy, inaccuracies of the localization, and inaccuracies of the prediction.
Conclusion: A concept for an enhanced V2X pedestrian collision avoidance system was developed and introduced. The concept uses new information sources such as smart devices to improve the prediction of the pedestrian's presence in the near future and considers challenges that come along with the usage of these information sources.
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Pan, Ying-Hung, and 潘英宏. "Comprehensive Vehicle Collision Avoidance System." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/59mtt4.
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碩士國立雲林科技大學
電子工程系
103
As the technology progresses rapidly in recent years, vehicles become popular and the safety systems for automotive applications are the developing products by each automakers in the world. However, most sensors set on the forward and on the back of vehicles are often radar, laser, or GPS. Such high-cost sensors can be combined only with high-level vehicles, which is unaffordable for ordinary people. To reduce costs and increase the detection accuracy, this paper applies cameras as sensors on the forward and on the back of vehicles, which is low-cost and is unaffected by the environment and the weather. In addition, the positions of the vehicles in the forward and in the back can be obtained with human vision and be converted into actual distance. This paper proposes an omnidirectional algorithm for collision avoidance systems, which includes seven parts: the lane detection, the curve detection, the lane departure warning system, the solid and dotted line detection, the road luminance detection, the vehicle detection, and the distance conversion. The lane detection algorithm can detect the information of the main lane line and the lane lines of both sides accurately, which can provide information for the lane departure warning system to determine if the vehicle departs from the lane currently. The road luminance detection algorithm can detect immediate road condition information effectively and can be combined with the vehicle detection algorithm to detect vehicle features, which can find the information of the vehicles in the forward and in the back, and can estimate the distance between the vehicle and the vehicles in the forward and in the back without the influence of the weather. Finally, the system alerts drivers with warning sounds, which is a driving safety warning system.
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Cheng, Guang-Fu, and 鄭光甫. "77GHz Automotive Collision Avoidance Radar System." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/fnsh5q.
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碩士國立交通大學
電信工程系所
95
The design and measured results of the developed radar sensor for automotive applications are presented in this thesis. The radar is highly integrated with the transceiver module, antenna and base-band circuits. The proposed antenna is composed of a novel microstrip-line-fed horn antenna and a quasi-optic lens antenna. The completed radar sensor with high resolution in azimuth and long detection range capability is demonstrated by practical road tests. The antenna gain is 28.5dBi. And the half-power beam width (HPBW) is narrow than 3 degrees. The maximum detection range is more than 100m.
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Brito, Thadeu. "Intelligent collision avoidance system for industrial manipulators." Master's thesis, 2017. http://hdl.handle.net/10198/19319.
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Mestrado de dupla diplomação com a UTFPR - Universidade Tecnológica Federal do ParanáThe new paradigm of Industry 4.0 demand the collaboration between robot and humans. They could help (human and robot) and collaborate each other without any additional security, unlike other conventional manipulators. For this, the robot should have the ability of acquire the environment and plan (or re-plan) on-the-fly the movement avoiding the obstacles and people. This work proposes a system that acquires the space of the environment, based on a Kinect sensor, verifies the free spaces generated by a Point Cloud and executes the trajectory of manipulators in these free spaces. The simulation system should perform the path planning of a UR5 manipulator for pick-and-place tasks, while avoiding the objects around it, based on the point cloud from Kinect. And due to the results obtained in the simulation, it was possible to apply this system in real situations. The basic structure of the system is the ROS software, which facilitates robotic applications with a powerful set of libraries and tools. The MoveIt! and Rviz are examples of these tools, with them it was possible to carry out simulations and obtain planning results. The results are reported through logs files, indicating whether the robot motion plain was successful and how many manipulator poses were needed to create the final movement. This last step, allows to validate the proposed system, through the use of the RRT and PRM algorithms. Which were chosen because they are most used in the field of robot path planning.
Os novos paradigmas da Indústria 4.0 exigem a colaboração entre robôs e seres humanos. Estes podem ajudar e colaborar entre si sem qualquer segurança adicional, ao contrário de outros manipuladores convencionais. Para isto, o robô deve ter a capacidade de adquirir o meio ambiente e planear (ou re-planear) on-the-fly o movimento evitando obstáculos e pessoas. Este trabalho propõe um sistema que adquire o espaço do ambiente através do sensor Kinect. O sistema deve executar o planeamento do caminho de manipuladores que possuem movimentos de um ponto a outro (ponto inicial e final), evitando os objetos ao seu redor, com base na nuvem de pontos gerada pelo Kinect. E devido aos resultados obtidos na simulação, foi possível aplicar este sistema em situações reais. A estrutura base do sistema é o software ROS, que facilita aplicações robóticas com um poderoso conjunto de bibliotecas e ferramentas. O MoveIt! e Rviz são exemplos destas ferramentas, com elas foi possível realizar simulações e conseguir os resultados de planeamento livre de colisões. Os resultados são informados por meio de arquivos logs, indicando se o movimento do UR5 foi realizado com sucesso e quantas poses do manipulador foram necessárias criar para atingir o movimento final. Este último passo, permite validar o sistema proposto, através do uso dos algoritmos RRT e PRM. Que foram escolhidos por serem mais utilizados no ramo de planeamento de trajetória para robôs.
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hao, Jinchung, and 金仲浩. "Simulation and Experiment of Vehicle Collision Avoidance System." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/51012708832199543803.
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碩士大葉大學
機械與自動化工程學系
99
In this thesis, a Radar-Based Vehicle Collision Avoidance System (VCAS) is established to help the vehicle from collision by providing light alarms when the vehicle is at a danger of collision. Also, the Active Braking System (ABS) is activated in emergency braking. The simulation system has been implemented by cooperating vehicle model with sensor equipment in CarSim with a controller built in Simulink/MATLAB. The VCAS has also been validated through an experimental vehicle equipped with a millimeter-wave radar using MotoTron ECU microcontroller. In design of VCAS controller, three collision avoidance algorithms from automobile manufacturers are used to estimate the safe distance from the front vehicle. A light-braking status will be triggered when the actual distance from the front vehicle is smaller than safe distance. Similarly, a heavy-braking with ABS control, will be triggered if the estimated collision time is smaller than 1.5 sec. A curve lane collision avoidance strategy is also proposed to detect if the front vehicle is in the same lane or not. The VCAS controller program built in MotoTron ECU is developed according to the proposed algorithm. A vehicle road running test is utilized to verify the effectiveness of the proposed algorithm.
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Yi-YuWu and 吳怡諭. "Traffic Collision Avoidance System for Ultra Light Aircrafts." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/60244246108154589331.
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碩士國立成功大學
民航研究所
98
After 911, the small aircraft transportation system (SATS) was launched to increase air transport capacity and reduce major airport traffic loads. Flight activities of small general aviation (GA) aircraft as well as sport ultra light aircraft (ULA) have become a serious concern to low altitude flights below 5,000 feet. Consequently, viable solution of collision avoidance for small aircrafts has an urgent demand by reconstructing the similar confliction avoidance logic for use. This thesis involves a survey of TCAS for small aircrafts in low altitude. The proposed method which had discourse a lot of technologies, comprises of detection and resolution for collision avoidance. On the flight characteristics, some other relative concepts such as visual flight rule and the flight priority are combined into the logic chart. Based on ADS-B concept under VFR, TCAS operation can be built on the ground surveillance computer as well as on the airborne electronic flight instrument system (EFIS). Aircraft conflict will be detected from the ADS information. This thesis is focused on the study of conflict detection and resolution by jointly considering ULA characteristic, especially the flight path diversity. Several feasible scenarios from real flight data are tested in simulations to look into the TCAS performance on the ground computer and the airborne EFIS. The results had confirmed the feasible and reliable development of TCAS for small aircrafts in low altitude flights.
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Chiang, Shu-chuan, and 江淑娟. "Traffic Collision Avoidance System for Ultra Light Aircrafts." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/83251846507946924164.
Full textAbstract:
碩士國立成功大學
民航研究所
96
Within this recent decade, Ultralight Aircraft (ULA) activities have been devoted with vigorous development. However, Civil Aviation Regulations can not catch up with ULA demands that many mid-air activities still have great safety latency. This thesis adopts Automatic Dependent Surveillance (ADS) conception to construct Traffic Collision Avoidance System (TCAS) for ULAs. Utilizing report and surveillance techniques, Air Traffic Controller (ATC) ground station surveillances all of the flight airspace. When ATC discovers unusual situation and appropriately reminds pilot to reconcile the conflict. Besides, through reporting each aircraft’s position and velocity, pilot can understand nearby environment condition on the Electronic Flight Instrument System (EFIS). In such support, TCAS system can predict aircrafts whether approach with each other in the future and construct the protection bubble around the ownership to build the line of defense.
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Chen, Jian-guo, and 陳建國. "A vehicle collision avoidance system using 2D laser imaging system." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/58979074919108749249.
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碩士國立中央大學
電機工程研究所
100
In recent years, traffic safety has become an important issue. Most traffic accidents happened because drivers do not keep a safe distance from front cars. In order to ensure drivers’ safety on road, research units and automobile manufacturing companies have engaged themselves to develop measurement and warning system to improve the safety performance of vehicles. These systems are known as advanced safety driving assist system (Advanced Driver Assistance Systems, ADAS). Therefore, this paper presents a new method to detect obstacles on road. When obstacles or gaps on road being detected, the system will remind the drivers to keep safety distances from obstacles or gaps, providing safety alertness to drivers. In this study, we use a CCD camera to real-time capture the front scenes of vehicles. Establishing multiple background model and using a consistent approach to obtain accurate template images. A 2D laser lattice is then generated, controlled by a dsPIC30F4011 microcontroller to produce a 2D lattice-laser illuminated image. The 2D lattice-laser illuminated image, along with a USB trigger signal, is transmitted to a computer. The 2D lattice-laser illuminated image is subsequently subtracted by the template image to obtain a 2D lattice-laser pattern of front scene. By comparing the 2D lattice-laser pattern of front scene with the standard lattice pattern, the obstacles’ size and locations can be identified. The identified obstacles will be displayed on a LCD screen and the system verbally reminds the drivers of keeping safe distances from obstacles, to achieve the purpose of vehicle traffic safety.
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Mukhopadhyay, Mousumi. "Lane departure avoidance system." 2011. http://hdl.handle.net/1805/2628.
Full textAbstract:
Indiana University-Purdue University Indianapolis (IUPUI)Traffic accidents cause millions of injuries and tens of thousands of fatalities per year worldwide. This thesis briefly reviews different types of active safety systems designed to reduce the number of accidents. Focusing on lane departure, a leading cause of crashes involving fatalities, we examine a lane-keeping system proposed by Minoiu Enache et al.They proposed a switched linear feedback (LMI) controller and provided two switching laws, which limit driver torque and displacement of the front wheels from the center of the lane. In this thesis, a state feedback (LQR) controller has been designed. Also, a new switching logic has been proposed which is based on driver's torque, lateral offset of the vehicle from the center of the lane and relative yaw angle. The controller activates assistance torque when the driver is deemed inattentive. It is deactivated when the driver regains control. Matlab/Simulink modeling and simulation environment is used to verify the results of the controller. In comparison to the earlier switching strategies, the maximum values of the state variables lie very close to the set of bounds for normal driving zone. Also, analysis of the controller’s root locus shows an improvement in the damping factor, implying better system response.
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Li, Jheng-Hong, and 李政宏. "Experimental Study on the Ship Autonomous Collision Avoidance System." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/4s7pf9.
Full textAbstract:
碩士國立臺灣大學
工程科學及海洋工程學研究所
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An autonomous collision avoidance system was built and validated by the ship model collision experiments in this study. The autonomous collision avoidance system consists of three subsystems which are detection system, collision avoidance decision-making system(CADMS) and control system. The detection system consists of the various sensors and detects the dynamic information of the target ship by the laser scanner. The dynamic information of the target ship was smoothed by the Kalman one-dimensional model and was transmitted to the CADMS. The CADMS makes the collision avoidance decision by the Convention on the International Regulations for Preventing Collisions at Sea with the dynamic information and fuzzy logic theory. The decisions were then transmitted to the control system. The control system has two control logics which are fixed heading and variable heading. The fixed heading logic uses the fuzzy control steering system to calculate rudder angle to keep the ship sailing in a straight line. The variable heading logic adopts the first-order Nomoto equation of motion model with the coefficients calculated from the ship model turning cycle test. The rudder angle which makes the ship to reach the yaw rate was then determined by the CADMS. The scenario of the autonomous collision avoidance experiments is to make a target ship driving to an own ship which is sailed along a course and cause a collision crisis. Then, the own ship will turn to the collision avoidance course at the design speed until the collision crisis is averted. After the collision crisis, the own ship will return to its direction of original course. The distance at closest point of approach was about 2.4 ship length in the head-on situation experiment, and the distance at closest point of approach was about 2.0 ship length in the crossing situation(left) experiment. The own ship can pass the target ship safely and return to original course from a collision crisis. The autonomous collision avoidance system built in this study is successful.