Week 8: Expository Essay 2 Revision: 65 points Content and Development – 45 Points Points Earned – 45/45 Additional Comments: The revision is substantive and effective. To note: 0. Major revisions (i.e., noticeable changes in content and organization) are evident. 0. The revision remains in line with its assigned rhetorical mode. 0. The revision contains all the elements of a successful essay: a precise, pertinent, and persuasive thesis; effective support for that thesis; and descriptive language where and when appropriate. 0. Inter- and intra-paragraph content is effectively organized (spatially, temporally, logically, or by order of importance) and makes use of topic sentences and appropriate transitional expressions. 0. The introduction and conclusion are engaging, cohesive, and appropriate to their position in the revision. The revision has been submitted to Turnitin. A paragraph of self-reflection and the original essay accompany the revision. Readability and Style – 10 Points Points Earned – 10/10 The tone is appropriate to the content and assignment. Sentences are complete, clear, and concise. Sentences are well-constructed, with consistently strong, varied syntax. Sentence transitions are present and maintain the flow of thought. Mechanics – 10 Points Points Earned – 10/10 Rules of grammar, usage, and punctuation are followed. Mechanics are accurate. Spelling is correct. Total – 65 Points Points Earned – 65/65 Overall Comments: Running Page: GOOGLE CAR PAGE 1 GOOGLE CAR Sasha Alba Google Car Self-driving cars are normally found in fictional movies, but Google is about to turn fiction into reality with the development of a full-fledged self-driven car. This means that the car can steer, accelerate, and can stop by itself. Google’s software, known as the Google chauffer, has components that include mission planning, behavior, perception, and motion planning and vehicle control (USA Today, 2014). Design The vehicle employs the use of artificial intelligence software that exhibits human intelligence that exhibits human behavior. It includes voice recognition, face recognition, natural language processing, game intelligence, artificial creativity, expert systems, among others. The mission planner component determines the waypoint segments that the vehicle should travel so as to complete a mission. It uses information such as road networks, terrain profiles, and information gathered during missions. After the information has been processed, it outputs waypoints to the behavior module (USA Today, 2014). Perception is determined by algorithms that perform localization, object classification, and road detection. Sensors such as Lidar and Radar integrate information so that it can be used by planning and reactive components. The behavior component enables the vehicle to follow rules. The rules may be intersection progression for ground vehicles or docking for surface vehicles. In the event of the rules conflicting,.

1. Week 8: Expository Essay 2 Revision: 65 points
Content and Development – 45 Points
Points Earned – 45/45
Additional Comments:
The revision is substantive and effective. To note:
0. Major revisions (i.e., noticeable changes in content and
organization) are evident.
0. The revision remains in line with its assigned rhetorical
mode.
0. The revision contains all the elements of a successful essay: a
precise, pertinent, and persuasive thesis; effective support for
that thesis; and descriptive language where and when
appropriate.
0. Inter- and intra-paragraph content is effectively organized
(spatially, temporally, logically, or by order of importance) and
makes use of topic sentences and appropriate transitional
expressions.
0. The introduction and conclusion are engaging, cohesive, and
appropriate to their position in the revision.
The revision has been submitted to Turnitin. A paragraph of
self-reflection and the original essay accompany the revision.
Readability and Style – 10 Points
Points Earned – 10/10
The tone is appropriate to the content and assignment.
Sentences are complete, clear, and concise.

2. Sentences are well-constructed, with consistently strong, varied
syntax.
Sentence transitions are present and maintain the flow of
thought.
Mechanics – 10 Points
Points Earned – 10/10
Rules of grammar, usage, and punctuation are followed.
Mechanics are accurate.
Spelling is correct.
Total – 65 Points
Points Earned – 65/65
Overall Comments:
Running Page: GOOGLE CAR
PAGE
1
GOOGLE CAR
Sasha Alba
Google Car

3. Self-driving cars are normally found in fictional movies, but
Google is about to turn fiction into reality with the development
of a full-fledged self-driven car. This means that the car can
steer, accelerate, and can stop by itself. Google’s software,
known as the Google chauffer, has components that include
mission planning, behavior, perception, and motion planning
and vehicle control (USA Today, 2014).
Design
The vehicle employs the use of artificial intelligence software
that exhibits human intelligence that exhibits human behavior.
It includes voice recognition, face recognition, natural language
processing, game intelligence, artificial creativity, expert
systems, among others. The mission planner component
determines the waypoint segments that the vehicle should travel
so as to complete a mission. It uses information such as road
networks, terrain profiles, and information gathered during
missions. After the information has been processed, it outputs
waypoints to the behavior module (USA Today, 2014).
Perception is determined by algorithms that perform
localization, object classification, and road detection. Sensors
such as Lidar and Radar integrate information so that it can be
used by planning and reactive components. The behavior
component enables the vehicle to follow rules. The rules may be
intersection progression for ground vehicles or docking for
surface vehicles. In the event of the rules conflicting, the Anti
Selection Mechanism (ASM) evaluates the most appropriate
behavior given the situation. The behavior integrator ensures
that there is a winner for each rule, so a full profile for behavior
can be generated at any time. This structure encourages greater
modularity and specialization for particular applications (USA
Today, 2014).
The motion planning is the decision-making component between
the vehicle controller and the behavior. It converts target points
into a series of vehicle commands. The motion planning comes
up with a navigation strategy so that set goal points can be

4. achieved safely. It is further subdivided into lanes and zones.
The lane navigation requires maintenance of strict boundaries
and conforms to the motions of other vehicles. The zone
navigation requires a balance of speed and steering according to
object avoidance. The vehicle control is responsible for
maintaining closed loop control of the vehicle’s actuators,
monitoring safety systems, and reporting system health.
Mechanical control systems comprise of servo motors and
relays, brake control, driving wheel control, and throttle
control. The concept and function of Google car is assisted by
Google map, hardware sensors and artificial intelligence
software. The Google map interacts with GPS and acts like a
database of speed limits, upcoming intersections, nearby
collisions, traffic report and gives directions. Google car
contains hardware sensors that gives real time environmental
properties, creates a fully observable environment. The sensors
employed are called Mobileye N.V. They offer a wide range of
driver safety solutions (USA Today, 2014).
Setup
The GX3200 is Google’s third car model, an effort to produce a
fully electric, fully autonomous vehicle. The car can
accommodate four passengers and has room for three suitcases
in the storage compartment. Each car acts as its own wireless
base station, so internet connectivity can be accessed through
Google’s WirelessGig service. The model has low weight and
can travel for 750 miles on a single charge. It can stay for about
48 hours on standby mode. It can also dock in the nearest
Google PowerUP station when not in use.
The sensors used are Light Detection and ranging (Lidar), Video
Camera, Position Estimator, and Distance Sensor. The Lidar is a
Velodyne 64 beam laser that rotates on the roof. It scans more
than 200 ft in all directions so that it can generate a precise
three-dimensional map showing the car’s surroundings. It is the
heart of the system and scans up to a distance of 60 meters. The
Lidar has optimal remote-sensing technology that can read lane

5. markers and stop lines with an accuracy of 2 inches. The car
takes the generated maps and combines them with high-
resolution world maps to produce different data models that
allow it to drive itself.
The position estimator is mounted on the left rear wheel of the
car. It measures small movements made by the car and helps to
accurately locate its position on the map. Through the use of
GPS, it determines the location of the vehicle and keeps track of
its movement.
The video camera is placed near the rear-view mirror. It detects
traffic lights and helps the car’s onboard computers recognize
moving obstacles like pedestrians, cyclists, and other cars.
There are two cameras, one with a 45 degrees point of view and
the other a 90 degrees point of view. It reads lane markings with
a higher accuracy than the Lidar. It also detects upcoming
traffic lights.
The Light Detection and Ranging (LIDAR) sensor measures
distance by illuminating a target with light and using pulses
from a laser. It uses ultra violet, near infrared or visible light to
image objects. Physical features are mapped by a narrow laser.
A 3D contour of the car’s immediate surroundings are
continuously generated , helping the car to sensor its
surroundings.
A position sensor provides altitude, latitude, and longitude, and
the corresponding standard deviation. When the geostationary
satellites providing the GPS correction are visible from the car,
the unit enters the high precision GPS mode. Standard precision
GPS mode occurs when no correction signal is available.
A Radio Detection and Ranging (RADAR) is a system that
detects objects by using radio waves to determine the range,
direction, altitude, or speed of objects. It can detect other motor
vehicles, the weather formation, aircrafts, ships, spacecrafts,
and terrain. The antenna transmits radio waves pulses which
bounce off any object on their path, returning a part of the
wave’s energy to the antenna which is normally located at the
same site with the antenna.

6. The distance sensors are in form of radars, three in front of the
vehicle and one in the rear. They help establish the positions of
distant objects. It can determine distance from a short range and
long range radar up to a maximum of 150 yards. They measure
distance to various obstacles and allow the system to reduce the
speed of the car or increase it depending on the situation.
The car’s operation is controlled by a computer whereby the
desired effects re delivered by the use of electronic throttle
control.
Capabilities
According to The Guardian (2014), Google car has semi-
autonomous waypoint following that includes lane keeping,
automatic exit, automatic lane change, overtaking slow or
stopped vehicles, automatic deceleration behind congestion on
freeways, and automatic stopping at red lights.
Follow the leader is a concept that would be useful for the
military and industries. It entails the first vehicle being driven
by a human and the following vehicles would only need to
follow it. Area clearance is all about the car establishing free
parking space. The automated car is able to identify available
parking spaces and determine the best slot to park the vehicle.
Tele-operated (remote) control- high level decisions are
provided by the operator on where the vehicle should go. In
many situations, a high-bandwidth, low-latency communication
link is either unavailable or technically impossible to provide.
In order to avoid delays in the transmission system, the operator
directs the vehicle based on a single screen image. The vehicle
follows a prescribed path for some distance as a new image is
being created (The Guardian, 2014).
Google car obeys rules of the road. The perception function of
the vehicle assists it to perceive information such as traffic
lights and process it in order to perform the required action.
Intersection behaviors (precedence, queuing) are determined by
the behavior component of the vehicle. The vehicle, when faced

7. with a number of decisions to make, has to determine the one
that takes precedence over the others. The car interchanges
lanes in order to avoid traffic. It does this through the
assistance of the motion planning component of the vehicle. The
vehicle is able to able to move from one lane to the other and
back if need be. In terms of oncoming traffic, the vehicle is able
to expect oncoming traffic due to the motion planning
component of the software. In case of traffic, the vehicle
automatically reduces speed and subsequently increases speed
when the road is clear and there is no obstacle in front (BBC,
2014).
The Google car detects obstacles at the back and in front of a
car while manually or automatically parking through the use of
an ultrasound sensor. It reverses flawlessly and occupies an
empty parking slot. Vehicular communication systems –
Vehicles may obtain information from other vehicles in the
vicinity especially if it relates to traffic congestion and safety
hazards. Vehicles and roadside units are used as communication
nodes where they provide each other with information.
Automatic rerouting is done by updating the vehicle’s map
through the use of sensory input. The lane-keeping system uses
a camera in the rearview mirror to monitor lane markings. It
gently moves the steering wheel if the car drifts too far to the
right or left. Keeping track of the vehicle’s location is enabled
by the wheel sensors. Stability and anti-lock and braking
systems are also assisted by the wheel sensors. The vehicle
applies smooth brakes when it sensors an object in front of it
(The Guardian, 2014).
Retro-traverse, a return to point of origin along the previously
traveled path can be employed by the Google car. A pre-planned
route of navigation can be set whereby the car may transport
passengers to all the pre-determined locations and come back
via the same route. Sensor data obtained from the road surface
as well as from raised buildings are obtained from a laser
scanner and are then accumulated in an occupancy grid. The
information is extracted from a stationary environment and is

8. used to detect and estimate road surfaces (BBC, 2014).
Excellent road following by the Google car is one of its main
features. It maintains a safer following distance from the car in
front, accelerates, and comes to a halt more smoothly. Detecting
and classifying obstacles (people, vehicles, and others) through
the assistance of the radar is a capability of an automated car.
This in turn avoids accidents such as hitting pedestrians. The
vehicle also avoids collisions with other vehicles and ensures
that it does not hit buildings or other stationary landmarks.
Detecting and interpreting regulatory traffic signs are done with
the use of the video camera. An automated car detects the
traffic lights colour through the use of a video camera that
interprets lights. The wide angle camera registers pixels that are
used by the computer to analyze and establish colour.
The easiest step when writing the expository essay is the
introduction, as I only had to present the gadget. The hardest
step was writing the main body, as it required an analysis of the
car’s main components. It also required a lot of research which
was time-consuming. The writing process was educative, as I
have learnt that writing a research paper needs proper planning
so that ideas between paragraphs can flow. In future, I’ll engage
in brainstorming of ideas so that I can select the main points, as
opposed to writing a point at a time.
References
Google is to start building its own self-driving cars. (2014, May
28). BBC News. Retrieved June 8, 2014, from
http://www.bbc.co.uk/news/technology-27587558
Google self-driving cars 'risk being caught in spam traffic jams'.
(2014, May 29). theguardian.com. Retrieved June 8, 2014, from
http://www.theguardian.com/technology/2014/may/29/google-
cars-hacking-spam-traffic-jams
Tooling around in a driver-less Google car. (2014, May 19).
USA Today. Retrieved June 8, 2014, from

9. http://www.usatoday.com/story/tech/2014/05/13/google-self-
driving-car-experience/9058443/