Remotely piloted aircraft systems (RPAS) are capable to solve a wide range of application tasks, including ones with high requirements to the time limit of performance. These requirements are mitigated in case of simultaneous use of multiple vehicles of different type. It is expedient to develop and implement technologies that ensure automatic tasks fulfilment in order to improve efficiency of their use. This article describes typical missions for UAVs used in the Ministry of Emergency Situations (EMERCOM) and suggests the optimum RPAS. Next, it examines the design principles of swarm RPAS control and offers a control algorithm for UAV swarm based on the examined principles. Finally, the article makes a conclusion about perspective of the development of the proposed RPAS used in the Ministry of Emergency Situations of Russia and about the communication algorithm in the system. In this research article the briefing and typical tasks for UAV used in the EMERCOM are described and analysed. The design principles of RPAS swarm control are described, also the control strategy in swarm and functioning order of UAVs in dynamics and the protocol of local voting of the agents are given. Authors suggest the algorithm of control of the UAV swarm, based on the examined principles.
{"title":"Control Technology for Remotely Piloted Air Systems (RPAS)","authors":"D. Senchuk, R. Meshcheryakov","doi":"10.1109/DeSE.2019.00092","DOIUrl":"https://doi.org/10.1109/DeSE.2019.00092","url":null,"abstract":"Remotely piloted aircraft systems (RPAS) are capable to solve a wide range of application tasks, including ones with high requirements to the time limit of performance. These requirements are mitigated in case of simultaneous use of multiple vehicles of different type. It is expedient to develop and implement technologies that ensure automatic tasks fulfilment in order to improve efficiency of their use. This article describes typical missions for UAVs used in the Ministry of Emergency Situations (EMERCOM) and suggests the optimum RPAS. Next, it examines the design principles of swarm RPAS control and offers a control algorithm for UAV swarm based on the examined principles. Finally, the article makes a conclusion about perspective of the development of the proposed RPAS used in the Ministry of Emergency Situations of Russia and about the communication algorithm in the system. In this research article the briefing and typical tasks for UAV used in the EMERCOM are described and analysed. The design principles of RPAS swarm control are described, also the control strategy in swarm and functioning order of UAVs in dynamics and the protocol of local voting of the agents are given. Authors suggest the algorithm of control of the UAV swarm, based on the examined principles.","PeriodicalId":6632,"journal":{"name":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","volume":"38 1","pages":"472-476"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75581841","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Control of an unmanned vehicle equipped with a synthetic vision system intended for the search of people, machinery, and other objects in a wildfire have been discussed in this article. The article describes methods for selecting UAV trajectory and altitude when searching for ground objects taking into account monitoring conditions and requirements for object detection probability as well as UAV flight safety. The efficiency of the algorithms proposed has been proved by computational modeling results.
{"title":"Control of an UAV for Fire Monitoring","authors":"Nikolay V. Kim, M. I. Mokrova, N. A. Mikhailov","doi":"10.1109/DeSE.2019.00021","DOIUrl":"https://doi.org/10.1109/DeSE.2019.00021","url":null,"abstract":"Control of an unmanned vehicle equipped with a synthetic vision system intended for the search of people, machinery, and other objects in a wildfire have been discussed in this article. The article describes methods for selecting UAV trajectory and altitude when searching for ground objects taking into account monitoring conditions and requirements for object detection probability as well as UAV flight safety. The efficiency of the algorithms proposed has been proved by computational modeling results.","PeriodicalId":6632,"journal":{"name":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","volume":"25 1","pages":"60-63"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74649527","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
We consider the problem of planning angleconstrained paths in dynamic 2D environment represented as a grid. We propose an extension of the LIAN algorithm, which is tailored to solve the problem on static grids, by combining it with the prominent Lifelong planning approach. We describe the resultant algorithm, LPLian, and evaluate it empirically in the series of simulated experiments. The results of the evaluation clearly show that LPLian outperforms the naive approach of replanning with LIAN from scratch for a well-defined class of the problems by a factor of 2x.
{"title":"LPLian: Angle-Constrained Path Finding in Dynamic Grids","authors":"N. Soboleva, K. Yakovlev","doi":"10.1109/DeSE.2019.00019","DOIUrl":"https://doi.org/10.1109/DeSE.2019.00019","url":null,"abstract":"We consider the problem of planning angleconstrained paths in dynamic 2D environment represented as a grid. We propose an extension of the LIAN algorithm, which is tailored to solve the problem on static grids, by combining it with the prominent Lifelong planning approach. We describe the resultant algorithm, LPLian, and evaluate it empirically in the series of simulated experiments. The results of the evaluation clearly show that LPLian outperforms the naive approach of replanning with LIAN from scratch for a well-defined class of the problems by a factor of 2x.","PeriodicalId":6632,"journal":{"name":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","volume":"10 1","pages":"48-53"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72906421","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The main aim of this study is to investigate the fresh and mechanical properties of self-compacting lightweight concrete SCLC in which natural aggregates replaced by natural lightweight coarse aggregate (Ponza) at different levels of 0%, 40%, 60%, 80% and 100%. For this purpose, a total of five mixes were designed (MR, M40, M60, M80, M100) and the fresh properties of these mixes were evaluated using slump flow diameter, the time required to reach 500 mm of flow (T500mm), L-box height ratio, and sieve segregation test. For mechanical properties, compressive Strength at 7 and 28 days, splitting tensile and flexural strengths and dry bulk density of the hardened concrete at 28 days were measured. The test results show that increasing the replacement level of lightweight coarse aggregate LWCA caused an increase in the filling ability and led to a decrease in T500mm time. Better performance in passing ability was recorded, although there was a slight decrease in segregation resistance as compared to the SCC with natural aggregate. However, all results were still within acceptable ranges for SCC fresh requirements. The mechanical properties of the produced SCLC reduced. However, a considerable reduction in the dry bulk density was recorded with good mechanical performance and this is extremely useful for reducing the total weight of concrete structures.
{"title":"Fresh and Mechanical Properties of Self-Compacting Lightweight Concrete Containing Ponza Aggregates","authors":"Sara Ali Almawla, M. Mohammed, A. I. Al-hadithi","doi":"10.1109/DeSE.2019.00028","DOIUrl":"https://doi.org/10.1109/DeSE.2019.00028","url":null,"abstract":"The main aim of this study is to investigate the fresh and mechanical properties of self-compacting lightweight concrete SCLC in which natural aggregates replaced by natural lightweight coarse aggregate (Ponza) at different levels of 0%, 40%, 60%, 80% and 100%. For this purpose, a total of five mixes were designed (MR, M40, M60, M80, M100) and the fresh properties of these mixes were evaluated using slump flow diameter, the time required to reach 500 mm of flow (T500mm), L-box height ratio, and sieve segregation test. For mechanical properties, compressive Strength at 7 and 28 days, splitting tensile and flexural strengths and dry bulk density of the hardened concrete at 28 days were measured. The test results show that increasing the replacement level of lightweight coarse aggregate LWCA caused an increase in the filling ability and led to a decrease in T500mm time. Better performance in passing ability was recorded, although there was a slight decrease in segregation resistance as compared to the SCC with natural aggregate. However, all results were still within acceptable ranges for SCC fresh requirements. The mechanical properties of the produced SCLC reduced. However, a considerable reduction in the dry bulk density was recorded with good mechanical performance and this is extremely useful for reducing the total weight of concrete structures.","PeriodicalId":6632,"journal":{"name":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","volume":"184 1","pages":"100-104"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72787678","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A robot is an option to improve productivity in industrial automation. Automated manipulators have been applied to hazardous environments and routine manufacturing functions. Because automated manipulators are nonlinear dynamic systems with a high degree of uncertainty, it is difficult to obtain precise dynamic equations to design control laws. VR is an important part of applications in industrial, medicine, statistics, and other areas where 3D object can help understand complex systems. In this application, interaction with the virtual system can be enhanced by a sense of touch, and rapid feedback can be used to apply representative forces from the virtual environment to a human user. The ANFIS approach has become one of the main areas of interest because it gains the benefits of neural networks (NN) as well as mysterious logic systems and eliminates individual defects by combining them with common features. The artificial neural network (ANN) has injected new momentum into the mysterious literature. ANN can be used as a universal learning model for any smooth parameter models, including the mysterious inference system. The mixed learning base used to combine the gradient ratios technique and the Least Square Estimator (LSE) to train the ANFIS network for a particular problem. This chapter introduces the design of the ANFIS for the 7-DOF manipulator model built by the VR environment and simulates this model by connecting Matlab / Simulink with VR to execute commands produced by the system-based ANFIS console. Satisfactory results are obtained in simulations which improve the design as a basic application of this control design.
{"title":"Intelligent Controller for 7-DOF Manipulator Based upon Virtual Reality Model","authors":"Y. A. Mashhadany, K. Gaeid, Mohammed K. Awsaj","doi":"10.1109/DeSE.2019.00128","DOIUrl":"https://doi.org/10.1109/DeSE.2019.00128","url":null,"abstract":"A robot is an option to improve productivity in industrial automation. Automated manipulators have been applied to hazardous environments and routine manufacturing functions. Because automated manipulators are nonlinear dynamic systems with a high degree of uncertainty, it is difficult to obtain precise dynamic equations to design control laws. VR is an important part of applications in industrial, medicine, statistics, and other areas where 3D object can help understand complex systems. In this application, interaction with the virtual system can be enhanced by a sense of touch, and rapid feedback can be used to apply representative forces from the virtual environment to a human user. The ANFIS approach has become one of the main areas of interest because it gains the benefits of neural networks (NN) as well as mysterious logic systems and eliminates individual defects by combining them with common features. The artificial neural network (ANN) has injected new momentum into the mysterious literature. ANN can be used as a universal learning model for any smooth parameter models, including the mysterious inference system. The mixed learning base used to combine the gradient ratios technique and the Least Square Estimator (LSE) to train the ANFIS network for a particular problem. This chapter introduces the design of the ANFIS for the 7-DOF manipulator model built by the VR environment and simulates this model by connecting Matlab / Simulink with VR to execute commands produced by the system-based ANFIS console. Satisfactory results are obtained in simulations which improve the design as a basic application of this control design.","PeriodicalId":6632,"journal":{"name":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","volume":"69 1","pages":"687-692"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85144910","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Anas Ali Hussien, Y. A. Mashhadany, K. Gaeid, Mehdi J. Marie, S. R. Mahdi, Saihood F Hameed
Induction motors (IMs) are very important components in industrial fields. This paper, variable speed actuator of induction motor (1M) with direct torque control (DTC) controller is proposed to control both flux and torque to increase the efficiency of a DTCIM in all period of operation due to adaptive algorithm. This adaptive algorithm set a large torque and flux at starting stage of operation to compensate instability while the small values of both torque and flux to control the steady state operation. Variable speed drive (VSDs) plays very essential role to control the speed and torque of IM by varying the voltage and frequency of IM supply. Simulation and experimental results through digital signal processor (DSP) ZQ28335 ensure accurate dynamic response in the torque and flux operations.
{"title":"DTC Controller Variable Speed Drive of Induction Motor with Signal Processing Technique","authors":"Anas Ali Hussien, Y. A. Mashhadany, K. Gaeid, Mehdi J. Marie, S. R. Mahdi, Saihood F Hameed","doi":"10.1109/DeSE.2019.00127","DOIUrl":"https://doi.org/10.1109/DeSE.2019.00127","url":null,"abstract":"Induction motors (IMs) are very important components in industrial fields. This paper, variable speed actuator of induction motor (1M) with direct torque control (DTC) controller is proposed to control both flux and torque to increase the efficiency of a DTCIM in all period of operation due to adaptive algorithm. This adaptive algorithm set a large torque and flux at starting stage of operation to compensate instability while the small values of both torque and flux to control the steady state operation. Variable speed drive (VSDs) plays very essential role to control the speed and torque of IM by varying the voltage and frequency of IM supply. Simulation and experimental results through digital signal processor (DSP) ZQ28335 ensure accurate dynamic response in the torque and flux operations.","PeriodicalId":6632,"journal":{"name":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","volume":"14 1","pages":"681-686"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84708324","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
With active growth of digital economics, an increasingly important role is played by the design and management of the corporate information system architecture to meet the actual needs of both research fellows and management. To modernize the corporate information providing system of a scientific organization, its architecture transformation was held. In this paper, the transformation architecture results are discussed. The authors use the hybrid approach to architecture development and management, based on TOGAF and extended with a group of Zachman scheme models. The problems and actual needs of the organization associated with the corporate information providing system were revealed. According to these needs, the goal and objectives of the transformation project are formulated. Based on the principles of the IT-system architecture management approach used here, the current architecture of the corporate information providing system was analyzed and formalized. The architecture artifacts were formed using both the ArchiMate modelling language according to TOGAF methodology, and various UML diagrams corresponding to different Zachman framework viewpoints. Also, the target system architecture was developed, based on the actual organization needs.
{"title":"Architecture Transformation of the Corporate Information Providing System for a Scientific Organization","authors":"R. Iakovlev, I. Vatamaniuk, Dmitrii Malov","doi":"10.1109/DeSE.2019.00161","DOIUrl":"https://doi.org/10.1109/DeSE.2019.00161","url":null,"abstract":"With active growth of digital economics, an increasingly important role is played by the design and management of the corporate information system architecture to meet the actual needs of both research fellows and management. To modernize the corporate information providing system of a scientific organization, its architecture transformation was held. In this paper, the transformation architecture results are discussed. The authors use the hybrid approach to architecture development and management, based on TOGAF and extended with a group of Zachman scheme models. The problems and actual needs of the organization associated with the corporate information providing system were revealed. According to these needs, the goal and objectives of the transformation project are formulated. Based on the principles of the IT-system architecture management approach used here, the current architecture of the corporate information providing system was analyzed and formalized. The architecture artifacts were formed using both the ArchiMate modelling language according to TOGAF methodology, and various UML diagrams corresponding to different Zachman framework viewpoints. Also, the target system architecture was developed, based on the actual organization needs.","PeriodicalId":6632,"journal":{"name":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","volume":"24 1","pages":"873-878"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83218132","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Skin cancers primarily malignant melanoma is mortal and tough to recognize in the final stages. To minimize the increasing death rate it is a most essential goal to recognize the skin cancer at its first stage. Skin lesion classification is becoming challenging more and more due to low contrast images. In this research, we propose an intelligent method by implementing the histogram decision to separate the low contrast images into a large amount of dataset. This decision is helpful in the pre-processing stage for the enhancements just in low contrast image either applied into all dataset by avoiding the time complexity. The saliency-based method is applied for lesion segmentation and achieved 95.8 % accuracy. Feature selection is performed by the entropy method after the extraction of deep color and PHOG features. In this research, the SVM classifier is applied on three benchmark datasets ISIB 2016, ISIB 2017 and PH2. Through our proposed fusion feature vector, the best classification results in achieved are 99.5% accuracy on the dataset ISIB2017.
{"title":"An Intelligent Saliency Segmentation Technique and Classification of Low Contrast Skin Lesion Dermoscopic Images Based on Histogram Decision","authors":"R. Javed, T. Saba, M. Shafry, M. Rahim","doi":"10.1109/DeSE.2019.00039","DOIUrl":"https://doi.org/10.1109/DeSE.2019.00039","url":null,"abstract":"Skin cancers primarily malignant melanoma is mortal and tough to recognize in the final stages. To minimize the increasing death rate it is a most essential goal to recognize the skin cancer at its first stage. Skin lesion classification is becoming challenging more and more due to low contrast images. In this research, we propose an intelligent method by implementing the histogram decision to separate the low contrast images into a large amount of dataset. This decision is helpful in the pre-processing stage for the enhancements just in low contrast image either applied into all dataset by avoiding the time complexity. The saliency-based method is applied for lesion segmentation and achieved 95.8 % accuracy. Feature selection is performed by the entropy method after the extraction of deep color and PHOG features. In this research, the SVM classifier is applied on three benchmark datasets ISIB 2016, ISIB 2017 and PH2. Through our proposed fusion feature vector, the best classification results in achieved are 99.5% accuracy on the dataset ISIB2017.","PeriodicalId":6632,"journal":{"name":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","volume":"77 2 1","pages":"164-169"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83406983","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Adaptive smart antenna is a combination of antenna arrays and beamforming algorithm. One of the important adaptive beamforming algorithms is Minimum Variance Distortionless Response algorithm (MVDR), which has optimal weight and very good output Signal-to-Interference Noise Ratio (SINR). MVDR is very sensitive to the steering vector errors that may occur due to manufacturing or calibration errors at antennas of the array. Signal suppress (selfnull) phenomena appeared due to this error, where mismatch between presume and actual signals Direction of Arrival (DOA) occurred. This error also may be occurred during the work time of smart antenna and after the final calibration test due the hard weather changes. According to this weather change, the shape of array changes and leads to error in the antenna interdistance. This leads to major degradation in the MVDR beamformer performance. In this paper, a novel diagnoses algorithm of smart antenna self-calibration is proposed. This algorithm aimed to overcome the calibration/manufacturing or shape distortion errors that may essentially exist or may occur by weather changes effect. According to this algorithm the reference element is re-localized to be in the middle of the Uniform Linear Array and the rest antenna elements distributed identically at the two sides of this reference. This configuration generates two identical sub-arrays at the two sides of the reference. Due to identical performance of the two subarrays, the inter-distance change between array’s antenna elements easily distinguish. Simulation results showed that the proposed algorithm has an effective response against steering vector errors since the desired signal is served by the main radiation beam while the interference is blocked by null.
{"title":"A Novel Self-Calibration Technique for Linear Array Based on Modified MVDR Adaptive Beamformer","authors":"Omar Khaldoon, A. Aljaaf, M. Alloghani","doi":"10.1109/DeSE.2019.00070","DOIUrl":"https://doi.org/10.1109/DeSE.2019.00070","url":null,"abstract":"Adaptive smart antenna is a combination of antenna arrays and beamforming algorithm. One of the important adaptive beamforming algorithms is Minimum Variance Distortionless Response algorithm (MVDR), which has optimal weight and very good output Signal-to-Interference Noise Ratio (SINR). MVDR is very sensitive to the steering vector errors that may occur due to manufacturing or calibration errors at antennas of the array. Signal suppress (selfnull) phenomena appeared due to this error, where mismatch between presume and actual signals Direction of Arrival (DOA) occurred. This error also may be occurred during the work time of smart antenna and after the final calibration test due the hard weather changes. According to this weather change, the shape of array changes and leads to error in the antenna interdistance. This leads to major degradation in the MVDR beamformer performance. In this paper, a novel diagnoses algorithm of smart antenna self-calibration is proposed. This algorithm aimed to overcome the calibration/manufacturing or shape distortion errors that may essentially exist or may occur by weather changes effect. According to this algorithm the reference element is re-localized to be in the middle of the Uniform Linear Array and the rest antenna elements distributed identically at the two sides of this reference. This configuration generates two identical sub-arrays at the two sides of the reference. Due to identical performance of the two subarrays, the inter-distance change between array’s antenna elements easily distinguish. Simulation results showed that the proposed algorithm has an effective response against steering vector errors since the desired signal is served by the main radiation beam while the interference is blocked by null.","PeriodicalId":6632,"journal":{"name":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","volume":"26 1","pages":"345-350"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86647535","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
J. Heikkinen, S. Gafurov, Sergey Kopylov, T. Minav, S. Grebennikov, Artur Kurbanov
Autonomous vehicles are a demanding topic which has attracted a lot of attention lately. This kind of vehicle should be capable of sensing its environment and react on the presence of obstacles and other traffic participants. Algorithms for obstacle avoidance and overall control of the autonomous driving in relation to robustness regarding environmental conditions are required for driving safely on roads. For the development of these algorithms, a safe environment is needed. In order to speed up the development of the algorithms, this paper proposes a Hardware in the loop (HIL) based test environment and analysis of it for autonomous vehicle development. Proposed HIL is combining a virtual driving environment based on Unity (game engine) and Apollo (an open autonomous driving platform) as well as a real car. Unity provides ability to vary weather, road conditions and driving scenarios. Apollo includes all the code necessary for autonomous driving and consists of numerous modules: localization, perception, control, routing, safety module and others. This will allow the testing of algorithms in various conditions and scenarios in a safe way while being closer to real world. Possible challenges with realization of the HIL are discussed and highlighted in this paper.
{"title":"Hardware-in-the-Loop Platform for Testing Autonomous Vehicle Control Algorithms","authors":"J. Heikkinen, S. Gafurov, Sergey Kopylov, T. Minav, S. Grebennikov, Artur Kurbanov","doi":"10.1109/DeSE.2019.00168","DOIUrl":"https://doi.org/10.1109/DeSE.2019.00168","url":null,"abstract":"Autonomous vehicles are a demanding topic which has attracted a lot of attention lately. This kind of vehicle should be capable of sensing its environment and react on the presence of obstacles and other traffic participants. Algorithms for obstacle avoidance and overall control of the autonomous driving in relation to robustness regarding environmental conditions are required for driving safely on roads. For the development of these algorithms, a safe environment is needed. In order to speed up the development of the algorithms, this paper proposes a Hardware in the loop (HIL) based test environment and analysis of it for autonomous vehicle development. Proposed HIL is combining a virtual driving environment based on Unity (game engine) and Apollo (an open autonomous driving platform) as well as a real car. Unity provides ability to vary weather, road conditions and driving scenarios. Apollo includes all the code necessary for autonomous driving and consists of numerous modules: localization, perception, control, routing, safety module and others. This will allow the testing of algorithms in various conditions and scenarios in a safe way while being closer to real world. Possible challenges with realization of the HIL are discussed and highlighted in this paper.","PeriodicalId":6632,"journal":{"name":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","volume":"11 1","pages":"906-911"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88663252","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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