Download or read book Contr le plateforme pour la validation du v hicule autonome sur simulateur dynamique hautes performances written by Carolina Rengifo cadavid and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Les travaux présentés dans ce manuscrit s'inscrivent dans le contexte de la simulation de conduite et plus concrètement dans celui des simulateurs de conduite dynamique a hautes performances utilises pour la validation des systèmes avances et du véhicule autonome. Afin de répondre aux enjeux de performance et de perception du mouvement, nous présentons différentes approches d'amélioration des algorithmes de restitution de mouvement (MCA). L'ensemble de nos études montre que la stratégie de contrôle prédictif est le meilleur choix pour contrôler les mouvements des nouveaux simulateurs a hautes performances. Cependant, dans ce MCA l'optimisation en temps réel et le modèle de perception doivent être garantis afin améliorer l'immersion du conducteur dans l'environnement virtuel. Nous avons donc comparé différentes techniques pour résoudre les problèmes d'optimisation sous contraintes et avons propose une technique d'optimisation a partir de circuits integres, qui propose une solution intuitive et rapide au problème d'optimisation. Enfin, nous avons établi des recommandations de paramétrage des MCA en fonction du comportement de conduite auto-declare qui permet une meilleure perception du mouvement dans un simulateur de conduite, en conduite interactive et en mode autonome.
Download or read book Conception et r alisation d une plateforme m catronique d di e la simulation de conduite des v hicules deux roues motoris s written by Lamri Nehaoua and published by . This book was released on 2008 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Le sujet de thèse concerne la réalisation et la caractérisation d’un simulateur dynamique de véhicule deux-roues. La thèse est organisée en plusieurs parties essentielles. D’abord, une étude bibliographique est menée pour cerner la problématique de la simulation de conduite d’une manière générale en se focalisant sur les simulateurs de point de vue conception. Dans cette partie, on a pris connaissance des différentes architectures mécaniques utilisées auparavant ainsi que les problèmes liés. Le choix de l'architecture du simulateur est guidé par les besoins nécessaires d'avoir une perception suffisante au cours de la simulation de conduite. Notre objectif est de reproduire les effets inertiels (accélération, effort,..) les plus pertinents perçus dans une conduite réelle. Le second chapitre aborde la dynamique des véhicules et compare celle des deux-roues contre les automobiles. Des adaptations pour des modèles dynamiques de moto ont été présentées pour répondre à nos besoins en termes de rendus privilégiés. Le troisième chapitre présente les aspects conception, réalisation, caractérisation et identification du simulateur de moto mis au point dans le cadre de cette thèse. Il constitue la principale contribution de ces travaux de recherche. Les deux derniers chapitres sont dédiés aux algorithmes de contrôle/commande ainsi qu’essais expérimentaux sur la plateforme. Ces tests ont été réalisés en vue de la caractérisation et la validation de performances de toute la chaîne de simulation.
Download or read book R duction du mal du simulateur lors de la simulation longue dur e pour la validation de v hicules autonomes written by Guillaume Lucas and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Le véhicule autonome est considéré comme l'une des innovations majeures de ces prochainesdécennies. Il est donc crucial de pouvoir évaluer et valider en amont les systèmesintelligents complexes mis en jeux dans ces futurs véhicules ainsi que leurs interactionsavec le conducteur. C'est pourquoi les outils de simulation sont privilégiés afin de pouvoirréaliser les milliards de kilomètres de roulage nécessaire, ainsi que les cas critiques, sansmettre en danger les usagers. La simulation de conduite driver-in-the-loop sera particulièrementutile afin d'étudier et de valider les phases de conduite hybride, comme ladélégation ou la reprise de conduite par le conducteur. Cependant, l'utilisation des simulateursde conduite immersifs est notamment limitée par le mal du simulateur. En effet,ce phénomène similaire au mal des transports peut affecter les performances et la tâchedu conducteur, ainsi que limiter le temps de simulation.Cette thèse « Réduction du mal du simulateur lors de la simulation longue durée pourla validation de véhicules autonomes » a été réalisée dans le cadre d'un contrat CIFREétabli entre les Arts et Métiers d'une part et le groupe Renault d'autre part. Dans unpremier temps, nous nous sommes intéressés à comprendre ce phénomène à travers lalittérature. Nous nous sommes particulièrement intéressés à ses origines ainsi qu'auxdifférents facteurs pouvant influer sur celui-ci. Ces analyses nous ont permis d'identifierdifférents leviers pouvant permettre de réduire le mal du simulateur. Nous réalisons,dans un second temps, une série d'expérimentations afin de tester et mettre en placenos solutions retenues. La première s'intéresse à l'effet d'ajout de modalités vibratoiresde la cabine. La seconde expérience s'applique à corriger un écart de latences entre ladynamique et le visuel. Finalement, la dernière étude s'intéresse aux déclenchements deréflexes oculaires inattendu, par les algorithmes de contrôle de mouvement.La thèse présentera les résultats expérimentaux de la réduction des symptômes demal du simulateur par l'intégration de vibrations ou de compensation de latences. Elleexposera également le déclenchement inopiné de mécanismes oculomoteurs pouvant êtresource d'oscillopsies, voire de symptômes de cinétose. Permettant ainsi des pistes d'améliorationssignificatives du mal de simulateur, afin de mener les campagnes d'analyses etde validation du véhicule autonome.
Download or read book Des syst mes d aide la conduite au v hicule autonome connect written by Nolwenn Monot and published by . This book was released on 2019 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Cette thèse s'inscrit dans le développement et la conception de fonctions d'aide à la conduite pour les véhicules autonomes de niveau 3 et plus en milieu urbain ou péri urbain. Du fait d'un environnement plus complexe et de trajectoires possibles plus nombreuses et sinueuses, les algorithmes des véhicules autonomes développés pour l'autoroute ne sont pas adaptés pour le milieu urbain. L'objectif de la thèse est de mettre à disposition des méthodes et des réalisations pour permettre au véhicule autonome d'évoluer en milieu urbain. Cette thèse se focalise sur la proposition de solutions pour améliorer le guidage latéral des véhicules autonomes en milieu urbain à travers l'étude de la planification de trajectoire en situation complexe, l'analyse du comportement des usagers et l'amélioration du suivi de ces trajectoires complexes à faibles vitesses. Les solutions proposées doivent fonctionner en temps réel dans les calculateurs des prototypes pour pouvoir ensuite être appliquées sur route ouverte. L'apport de cette thèse est donc autant théorique que pratique.Après une synthèse des fonctions d'aide à la conduite présentes à bord des véhicules et une présentation des moyens d'essais mis à disposition pour la validation des algorithmes proposés, une analyse complète de la dynamique latérale est effectuée dans les domaines temporel et fréquentiel. Cette analyse permet alors la mise en place d'observateurs de la dynamique latérale pour estimer des signaux nécessaires aux fonctions de guidage latéral et dont les grandeurs ne sont pas toujours mesurables, fortement dégradées ou bruitées. La régulation latérale du véhicule autonome se base sur les conclusions apportées par l'analyse de cette dynamique pour proposer une solution de type multirégulateur capable de générer une consigne en angle volant pour suivre une trajectoire latérale quelle que soit la vitesse. La solution est validée tant en simulation que sur prototype pour plusieurs vitesses sur des trajectoires de changement de voie. La suite de la thèse s'intéresse à la génération d'une trajectoire en milieu urbain tenant compte non seulement de l'infrastructure complexe (intersection/rond-point) mais également des comportements des véhicules autour. C'est pourquoi, une analyse des véhicules de l'environnement est menée afin de déterminer leur comportement et leur trajectoire. Cette analyse est essentielle pour la méthode de génération de trajectoire développée dans cette thèse. Cette méthode, basée sur l'algorithme A* et enrichie pour respecter les contraintes géométriques et dynamiques du véhicule, se focalise d'abord dans un environnement statique complexe de type parking ou rond-point. Des points de passage sont intégrés à la méthode afin de générer des trajectoires conformes au code de la route et d'améliorer le temps de calcul. La méthode est ensuite adaptée pour un environnement dynamique où le véhicule est alors capable, sur une route à double sens de circulation, de dépasser un véhicule avec un véhicule arrivant en sens inverse.
Download or read book Innovate Bristol written by Sven Boermeester and published by . This book was released on 2019-12 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Innovate Bristol highlights and celebrates those companies and individuals that are actively working at building a better tomorrow for all. Innovation Ecosystems thrive through the involvement and support of companies and individuals from all industries, which is why the Innovate series not only focuses on the innovators but also those people whom the Innovation Ecosystem, would not be able to thrive without.
Download or read book Upsetting the Offset written by Steffen Böhm and published by Fastprint Publishing. This book was released on 2009 with total page 363 pages. Available in PDF, EPUB and Kindle. Book excerpt: Upsetting the Offset engages critically with the political economy of carbon markets. It presents a range of case studies and critiques from around the world, showing how the scam of carbon markets affects the lives of communities. But the book doesn't stop there. It also presents a number of alternatives to carbon markets which enable communities to live in real low-carbon futures.
Download or read book Fundamentals of Vehicle Dynamics written by Thomas Gillespie and published by SAE International. This book was released on 2021-04-29 with total page 512 pages. Available in PDF, EPUB and Kindle. Book excerpt: A world-recognized expert in the science of vehicle dynamics, Dr. Thomas Gillespie has created an ideal reference book that has been used by engineers for 30 years, ranging from an introduction to the subject at the university level to a common sight on the desks of engineers throughout the world. As with the original printing, Fundamentals of Vehicle Dynamics, Revised Edition, strives to find a middle ground by balancing the need to provide detailed conceptual explanations of the engineering principles involved in the dynamics of ground vehicles with equations and example problems that clearly and concisely demonstrate how to apply such principles. A study of this book will ensure that the reader comes away with a solid foundation and is prepared to discuss the subject in detail. Ideal as much for a first course in vehicle dynamics as it is a professional reference, Fundamentals of Vehicle Dynamics, Revised Edition, maintains the tradition of the original by being easy to read and while receiving updates throughout in the form of modernized graphics and improved readability. Inasmuch as the first edition proved to be so popular, the Revised Edition intends to carry on that tradition for a new generation of engineers.
Download or read book Faecal Sludge Management written by Linda Strande and published by IWA Publishing. This book was released on 2014-08-15 with total page 428 pages. Available in PDF, EPUB and Kindle. Book excerpt: It is estimated that literally billions of residents in urban and peri-urban areas of Africa, Asia, and Latin America are served by onsite sanitation systems (e.g. various types of latrines and septic tanks). Until recently, the management of faecal sludge from these onsite systems has been grossly neglected, partially as a result of them being considered temporary solutions until sewer-based systems could be implemented. However, the perception of onsite or decentralized sanitation technologies for urban areas is gradually changing, and is increasingly being considered as long-term, sustainable options in urban areas, especially in low- and middle-income countries that lack sewer infrastructures. This is the first book dedicated to faecal sludge management. It compiles the current state of knowledge of the rapidly evolving field of faecal sludge management, and presents an integrated approach that includes technology, management, and planning based on Sandecs 20 years of experience in the field. Faecal Sludge Management: Systems Approach for Implementation and Operation addresses the organization of the entire faecal sludge management service chain, from the collection and transport of sludge, and the current state of knowledge of treatment options, to the final end use or disposal of treated sludge. The book also presents important factors to consider when evaluating and upscaling new treatment technology options. The book is designed for undergraduate and graduate students, and engineers and practitioners in the field who have some basic knowledge of environmental and/or wastewater engineering.
Download or read book Doing Business 2020 written by World Bank and published by World Bank Publications. This book was released on 2019-11-21 with total page 241 pages. Available in PDF, EPUB and Kindle. Book excerpt: Seventeen in a series of annual reports comparing business regulation in 190 economies, Doing Business 2020 measures aspects of regulation affecting 10 areas of everyday business activity.
Download or read book Insect Viruses written by Byrony C Bonning and published by Academic Press. This book was released on 2006-09-22 with total page 513 pages. Available in PDF, EPUB and Kindle. Book excerpt: Baculoviruses are perhaps unique among viruses in the breadth of their biotechnological applications: these insect specific viruses are used not only for insect pest management purposes, but also as laboratory research tools for production of recombinant proteins and for protein display, and as potential vectors for human gene therapy. In addition to highlighting recent advances, this volume provides a comprehensive review of the biotechnological applications of these and other insect viruses in both the academic and private sectors.
Download or read book Vehicle Dynamics Estimation using Kalman Filtering written by Moustapha Doumiati and published by John Wiley & Sons. This book was released on 2012-12-14 with total page 215 pages. Available in PDF, EPUB and Kindle. Book excerpt: Vehicle dynamics and stability have been of considerable interest for a number of years. The obvious dilemma is that people naturally desire to drive faster and faster yet expect their vehicles to be “infinitely” stable and safe during all normal and emergency maneuvers. For the most part, people pay little attention to the limited handling potential of their vehicles until some unusual behavior is observed that often results in accidents and even fatalities. This book presents several model-based estimation methods which involve information from current potential-integrable sensors. Improving vehicle control and stabilization is possible when vehicle dynamic variables are known. The fundamental problem is that some essential variables related to tire/road friction are difficult to measure because of technical and economical reasons. Therefore, these data must be estimated. It is against this background, that this book’s objective is to develop estimators in order to estimate the vehicle’s load transfer, the sideslip angle, and the vertical and lateral tire/road forces using a roll model. The proposed estimation processes are based on the state observer (Kalman filtering) theory and the dynamic response of a vehicle instrumented with standard sensors. These estimators are able to work in real time in normal and critical driving situations. Performances are tested using an experimental car in real driving situations. This is exactly the focus of this book, providing students, technicians and engineers from the automobile field with a theoretical basis and some practical algorithms useful for estimating vehicle dynamics in real-time during vehicle motion.
Download or read book Undocumented Secrets of MATLAB Java Programming written by Yair M. Altman and published by CRC Press. This book was released on 2011-12-05 with total page 704 pages. Available in PDF, EPUB and Kindle. Book excerpt: For a variety of reasons, the MATLAB®-Java interface was never fully documented. This is really quite unfortunate: Java is one of the most widely used programming languages, having many times the number of programmers and programming resources as MATLAB. Also unfortunate is the popular claim that while MATLAB is a fine programming platform for prototyping, it is not suitable for real-world, modern-looking applications. Undocumented Secrets of MATLAB®-Java Programming aims to correct this misconception. This book shows how using Java can significantly improve MATLAB program appearance and functionality, and that this can be done easily and even without any prior Java knowledge. Readers are led step-by-step from simple to complex customizations. Code snippets, screenshots, and numerous online references are provided to enable the utilization of this book as both a sequential tutorial and as a random-access reference suited for immediate use. Java-savvy readers will find it easy to tailor code samples for their particular needs; for Java newcomers, an introduction to Java and numerous online references are provided. This book demonstrates how The MATLAB programming environment relies on Java for numerous tasks, including networking, data-processing algorithms and graphical user-interface (GUI) We can use MATLAB for easy access to external Java functionality, either third-party or user-created Using Java, we can extensively customize the MATLAB environment and application GUI, enabling the creation of visually appealing and usable applications
Download or read book NATO Glossary of Terms and Definitions written by North Atlantic Treaty Organization and published by CreateSpace. This book was released on 2013-03-08 with total page 450 pages. Available in PDF, EPUB and Kindle. Book excerpt: NATO Glossary of terms and definitions (English and French). Listing terms of military significance and their definitions for use in NATO.
Download or read book Cambridge Handbook of Engineering Education Research written by Aditya Johri and published by Cambridge University Press. This book was released on 2014-02-10 with total page 1124 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Cambridge Handbook of Engineering Education Research is the critical reference source for the growing field of engineering education research, featuring the work of world luminaries writing to define and inform this emerging field. The Handbook draws extensively on contemporary research in the learning sciences, examining how technology affects learners and learning environments, and the role of social context in learning. Since a landmark issue of the Journal of Engineering Education (2005), in which senior scholars argued for a stronger theoretical and empirically driven agenda, engineering education has quickly emerged as a research-driven field increasing in both theoretical and empirical work drawing on many social science disciplines, disciplinary engineering knowledge, and computing. The Handbook is based on the research agenda from a series of interdisciplinary colloquia funded by the US National Science Foundation and published in the Journal of Engineering Education in October 2006.
Download or read book Engineering written by Unesco and published by UNESCO. This book was released on 2010-01-01 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt: This report reviews engineering's importance to human, economic, social and cultural development and in addressing the UN Millennium Development Goals. Engineering tends to be viewed as a national issue, but engineering knowledge, companies, conferences and journals, all demonstrate that it is as international as science. The report reviews the role of engineering in development, and covers issues including poverty reduction, sustainable development, climate change mitigation and adaptation. It presents the various fields of engineering around the world and is intended to identify issues and challenges facing engineering, promote better understanding of engineering and its role, and highlight ways of making engineering more attractive to young people, especially women.--Publisher's description.
Download or read book Oceans Past written by Poul Holm and published by Earthscan. This book was released on 2012 with total page 250 pages. Available in PDF, EPUB and Kindle. Book excerpt: �[A] fascinating volume, which establishes marine environmental history as a major new discipline for academics as well as an exciting way to bring history and the natural world alive for the public.�ANDREW A. ROSENBERG, UNIVERSITY OF NEW HAMPSHIRE�The HMAP project is to be congratulated on this book, which presents vivid, evidence-based reconstructions of historical fisheries and the prolific ecosystems in which they were embedded.�TONY J. PITCHER, UNIVERSITY OF BRITISH COLUMBIA�The ingenuity and scholarship of the authors allow us to see ... how human societies have depended on and influenced marine living resources from periwinkles to whales.�MIKE SINCLAIR, BEDFORD INSTITUTE OF OCEANOGRAPHY�This book exalts the surprisingly fruitful marriage of historians and marine scientists - a union that has proven to be one of the most exciting developments in ocean research in recent years.�KATHERINE RICHARDSON, UNIVERSITY OF COPENHAGENFor centuries the seas appeared to offer limitless supplies of food and other resources, their waters a cornucopia never to be exhausted. In more recent times, episodes such as the extreme exploitation and subsequent collapse of cod populations of the Grand Banks off Newfoundland have highlighted the fallaciousness of this view. Yet all too often the lessons from our historical interactions with marine animals are little known, let alone learned.Based on research for the History of Marine Animal Populations project, Oceans Past examines the complex relationship our forebears had with the sea and the animals that inhabit it. It presents eleven studies ranging from fisheries and invasive species to offshore technology and the study of marine environmental history, bringing together the perspectives of historians and marine scientists to enhance understanding of ocean management of the past, present and future. In doing so, it also highlights the influence that changes in marine ecosystems have upon the politics, welfare and culture of human societies.
Download or read book Ultra Wide Band Antennas written by Xavier Begaud and published by John Wiley & Sons. This book was released on 2013-03-04 with total page 217 pages. Available in PDF, EPUB and Kindle. Book excerpt: Ultra Wide Band Technology (UWB) has reached a level of maturity that allows us to offer wireless links with either high or low data rates. These wireless links are frequently associated with a location capability for which ultimate accuracy varies with the inverse of the frequency bandwidth. Using time or frequency domain waveforms, they are currently the subject of international standards facilitating their commercial implementation. Drawing up a complete state of the art, Ultra Wide Band Antennas is aimed at students, engineers and researchers and presents a summary of internationally recognized studies.
