Design and Realization of Experimental Autonomous Driving System
Based on Neural Network Control
Qingfu Kong
1, a
, Fanming Zeng
2, b
, Jiechang Wu
3
and Jiaming Wu
4
1
College of Power Engineering, Naval University of Engineering, Wuhan, 430033, China.
2
College of Power Engineering, Naval University of Engineering, Wuhan, 430033, China.
3, 4
Naval University of Engineering, Wuhan, 430033, China.
a
[email protected],
b
[email protected]
Keywords: autonomous driving, neural network control, slot car, intelligent vehicle.
Abstract. Intelligent vehicle is an attractive solution to the traffic problems caused by automobiles.
An experimental autonomous driving system based on a slot car set is designed and realized in the
paper. With the application of a wireless camera equipped on the slot car, the track information is
acquired and sent to the controlling computer. A backpropogation (BP) neural network controller is
built to imitate the way of player’s thinking. After being trained, the neural network controller can
give the proper voltage instructions to the direct current (DC) motor of the slot car according to
different track conditions. Test results prove that the development of the autonomous driving
system is successful.
Introduction
Autonomous driving is a very important researching field of the ITS (Intelligent Transportation
Systems). It means that no participation of the driver is required while driving. After decades of
efforts, great progress has been made to advance the reliability and security of autonomous driving.
It is reported that four driverless vehicles drove successfully over 13,000 km from Italy to China as
an attempt to test the feasibility of autonomous driving in 2010 in the VIAC Challenge (The VisLab
Intercontinental Autonomous Challenge) [1].
In this paper, an experimental autonomous driving based on a slot car set is designed and
realized. The slot car used to be operated through a joystick by the player, but here it is fully
controlled by a computer. That is to say, the control computer is applied to imitate the player’s way
of thinking; it can finally give the correct instruction to the slot car according to different track
conditions. The general goal of the experiment is that, on the premise of safe driving, the slot car
controlled by the computer can finish the race in a time as short as possible. To achieve this goal, a
neural network controller is built in the computer to imitate the player’s way of thinking.
Construction of the hardware platform
A photograph of the hardware platform is illustrated in figure 1. It is composed of six subsystems:
the slot car set, track information acquisition subsystem, track information transmission subsystem,
information processing subsystem, motor control subsystem and speed measuring subsystem [2].
The slot car set. The slot car set consists mainly of two parts: racing track and slot car. The t.
Universal tool microscope automatic control research based on LabviewIJRES Journal
With Shanghai optical instrument factory manufacturing 19 ja universal tool microscope based on the automation transformation, image acquisition from the human eye on reticle m word line reading converted to CCD camera technology in image, by the analysis of image data processing software. Using Labview as PC and single chip microcomputer as the machine and realize the upper machine and lower machine communication, thus to drive the stepper motor. Achieve image automatic acquisition and processing of data analysis, in order to realize the automatic control of universal tool microscope.
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A PID Controller for Real-Time DC Motor Speed Control using the C505C Microco...shirshenduroy2016
This paper presents a real-time DC Motor speed
controller design using a microcontroller-based network
system. The design architecture was developed using two
Phytec evaluation boards each having an Infineon eightbit
C505C-L microcontroller. The system detects the realtime
speed of the motor using the sensor device and then
transfers data to the first Phytec board’s microcontroller
using serial communication.
Universal tool microscope automatic control research based on LabviewIJRES Journal
With Shanghai optical instrument factory manufacturing 19 ja universal tool microscope based on the automation transformation, image acquisition from the human eye on reticle m word line reading converted to CCD camera technology in image, by the analysis of image data processing software. Using Labview as PC and single chip microcomputer as the machine and realize the upper machine and lower machine communication, thus to drive the stepper motor. Achieve image automatic acquisition and processing of data analysis, in order to realize the automatic control of universal tool microscope.
A Longitudinal Control Algorithm for Smart Cruise Control with Virtual Parame...ijceronline
This paper presents a longitudinal control algorithm for a smart cruise control with virtual parameters in multiple transitions by a driver and traffic conditions. The object is to achieve driver’s comfort and smooth transition with collision prevention for safety in various driving situations. The proposed algorithm consists of an in-path target selection, a generation of virtual parameters, and longitudinal controller for smart cruise control. The in-path target selection algorithm selects an important target which moves on the driving direction of subject vehicle. In addition, it provides the information in order to drive a subject vehicle smoothly and improve safety in various traffic transitions. Finally, smart cruise control controller with virtual parameters computes the desired acceleration. In order to reduce effects of discontinuous changes caused by traffic conditions or drivers such as time gap, set speed, and automation switching, the virtual parameters are applied to longitudinal control algorithm for smart cruise control. The performance and safety benefits of the proposed smart cruise control system are investigated via simulations using real vehicle driving data
A PID Controller for Real-Time DC Motor Speed Control using the C505C Microco...shirshenduroy2016
This paper presents a real-time DC Motor speed
controller design using a microcontroller-based network
system. The design architecture was developed using two
Phytec evaluation boards each having an Infineon eightbit
C505C-L microcontroller. The system detects the realtime
speed of the motor using the sensor device and then
transfers data to the first Phytec board’s microcontroller
using serial communication.
Application and evaluation of the neural network in gearboxTELKOMNIKA JOURNAL
We developed old designed of a Back-Propagation neural network (BPNN), which it was designed by other researchers, and we made modification in their structure. The 1st velocity ratio was discriminated by lowest speed, and highest twist. The 6th velocity ratio was discriminated by highest speed, and lowest twist. The aim of this paper is to design neural structure get best performance to control an electrical automotive transportation six-speed gearbox of the vehicle. We focus on the evaluation of the BPNN to select the suitable number of layers and neurons. Experimentally, the structure of the proposed BPNN are constructed from four layers: eight input nodes in the first layer that received data in binary number, 45 neurons in 1st hidden-layer, 25 neurons in 2nd hidden-layer, and 6 neurons in the fourth layer. The MSE and number of Epochs are the main factors used for the evaluation of the proposed structure, and compared with the other structures which was designed by other researchers. Experimentally, we discovered that the best value of Epoch and MSE was chosen when the BPNN consisted of two hidden-layers, 45, and 25 neurons in the 1st and 2nd hidden-layer respectively. The implementation was applied using MATLAB software.
In this project we are going to make an embedded system which will help to provide protection against theft. This system will send the data to the user who want to track the vehicle showing the using position of vehicle in terms of latitude and longitude. Most of the people know that GPS is more secure but they don’t apply because it is expensive. This design is needed for the real time location of the vehicle. It changes the microcontroller P89V51RD2 interfaces with various hardware peripheries this uncontrolled interfaces serially with GSM modem and GPS receiver.
AUTO LANDING PROCESS FOR AUTONOMOUS FLYING ROBOT BY USING IMAGE PROCESSING BA...csandit
In today’s technological life, everyone is quite familiar with the importance of security
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of them is flying robots technology. One well-known usage of flying robot, perhaps, is its
capability in security and care measurements which made this device extremely practical, not
only for its unmanned movement, but also for the unique manoeuvre during flight over the
arbitrary areas. In this research, the automatic landing of a flying robot is discussed. The
system is based on the frequent interruptions that is sent from main microcontroller to camera
module in order to take images; these images have been distinguished by image processing
system based on edge detection, after analysing the image the system can tell whether or not to
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experimentally.
The International Journal of Engineering & Science is aimed at providing a platform for researchers, engineers, scientists, or educators to publish their original research results, to exchange new ideas, to disseminate information in innovative designs, engineering experiences and technological skills. It is also the Journal's objective to promote engineering and technology education. All papers submitted to the Journal will be blind peer-reviewed. Only original articles will be published.
Autonomous Terrain Mapping Using COTS HardwareJames Anderson
Undergraduate paper submission for 2012 International Telemetering Conference
Abstract: The paper describes the development of a robotic platform which can autonomously map terrain using a COTS infrared imaging and ranging system. The robotic system is based on an omni-directional platform, and can navigate typical commercial indoor environments. An on-board processor performs surface reconstruction, and condenses the point clouds generated by the ranging system to mesh models which can be more easily stored and transmitted. The processor then correlates new frames with the existing world model by using sensor odomerty. The robot will autonomously determine the best areas of the environment to map, and gather complete three dimensional color models of arbitrary environments.
Simulation Design of DC Motor Control System Based on MC9S12D64 MCUIJERA Editor
In order to simulate motion condition of industry motor such as automobile air-conditioning motor, automobile
idle valve motor and automobile water cooling motor etc., hardware and software simulation design of direct
current (DC) motor control system are carried out based on MC9S12D64 MCU in this paper. Through analyzing
and comparing a sampled voltage data, MCU controls a DC motor to rotate or not to rotate, and give an alarm
with a buzzer and a red LED light according to requests. The scheme of hardware circuit is performed. The
programming flow chart and the main programming codes are presented. This system is proved to be reliable by
an experimental rig
Direct Torque Control (DTC) of Induction Motor drive has quick torque response without complex orientation transformation and inner loop current control. DTC has some drawbacks, such as the torque and flux ripple. The control scheme performance relies on the accurate selection of the switching voltage vector. This proposed simple structured neural network based new identification method for flux position estimation, sector selection and stator voltage vector selection for induction motors using direct torque control (DTC) method. The ANN based speed controller has been introduced to achieve good dynamic performance of induction motor drive. The Levenberg-Marquardt back-propagation technique has been used to train the neural network. Proposed simple structured network facilitates a short training and processing times. The stator flux is estimated by using the modified integration with amplitude limiter algorithms to overcome drawbacks of pure integrator. The conventional flux position estimator, sector selector and stator voltage vector selector based modified direct torque control (MDTC) scheme compared with the proposed scheme and the results are validated through both by simulation and experimentation.
Exam Questions1. (Mandatory) Assess the strengths and weaknesse.docxtheodorelove43763
Exam Questions:
1. (Mandatory) Assess the strengths and weaknesses of Divine Command Theory. Give a strong, well-supported argument in favor of (or opposed to) DCT for ethical decision-making.
1. (Mandatory) Explain the ethical theory of Thomas Hobbes, David Hume,
or
Immanuel Kant, primarily concerning morality and justice. Include contextual/background factors that shaped the theory. Also, tell why you agree or disagree with it, providing a present-day illustration to support your position.
Choose
either
3 or 4:
1. Analyze the strengths and weaknesses of Utilitarianism and Ethical Egoism. Provide an argument in favor of (or opposed to) either Utilitarianism or Ethical Egoism, using an illustration from history or personal experience.
2. Compare and contrast rationalism and empiricism, including one or more key figures representing each perspective. Focus primarily on the impact of these knowledge theories on ethical thinking (Christian or otherwise), both in the liberal arts and Western culture.
Each question must be answered with 250-300 words. Make sure to write as clearly and specifically as possible. Use your own words and include in-text citation, and provide references
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Evolving Leadership roles in HIM1. Increased adoption of hea.docxtheodorelove43763
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2. Take one of the challenges you presented and address it by using the 3 I’s Leadership Model for e-HIM that AHIMA adapted.
3. Postulate how earning an AHIMA credential can prepare you for leadership opportunity.
AHIMA. 2016a. e-HIM Overview and Instructions. AHIMA Leadership Model. http://library.ahima. org/xpedio/groups/public/documents/ahima/bok1_042565.pdf
AHIMA. 2016b. Why Get Certified. Certification. http://www.ahima.org/certification/whycertify Zeng, X., Reynolds, R., and Sharp, M. 2009. Redefining the Roles of Health Information Management Professionals in Health Information Technology. Perspectives in Health Information Management. (6). http://perspectives.ahima.org/redefining-the-roles-of-health-information-managementprofessionals-in-health-information-technology/#.VfWxFNJVhBc
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DESIGN AND IMPLEMENTATION OF PERFORMANCE MANAGEMENT SYSTEMS,
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CASE WRITE-UP – OUTLINE
LAURA MATTOS | SHRUTI KODANDARAMU | ASHA BORA
Ottawa University EMBA | Organizational Behavior Theory
TECHEDGE CASE STUDY WRITE-UP - OUTLINE 2
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Patient falls with injury and fall prevention remain complex phenomena in the acute care setting as well as a major challenge for healthcare professionals (Gygax Spicer, 2017). Patient falls are considered one of the leading adverse events occurring in acute care settings such as hospitals and nursing homes, with the detrimental impact to the patient ranging from mild to severe bruising, fractures, trauma, and even death (de Medeiros Araújo et al., 2017). Falls are common phenomena in older adults, with roughly one out of three people age 65 years and older who suffers from at least one fall per year due to multiple factors including environmental, social, and physiological factors either alone or in conjunction (Gygax Spicer, 2017). The etiology is that patients are attempting to get out of bed without assistance from nursing staff. Several of the causative factors include illness, impulsiveness, urgency, medications, or being in an unfamiliar environment. Lastly, there has been an increase in the amount of turnover in staffing, thus reducing the amount of available nursing staff in the practice setting.
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§ Description of measures required to preserve ongoing evidence integrity
§ Controls necessary to maintain evidence integrity in storage
§ Documentation required to demonstrate evidence integrity
Required Resources
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§ Course textbook
Submission Requirements
§ Format: Microsoft Word (or compatible)
§ Font: Times New Roman, size 12, double-space
§ Citation Style: APA
§ Length: 2 to 4 pages
Self-Assessment Checklist
§ I created a policy that addressed all issues.
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.
Even though technology has shifted HRM to strategic partner, has thi.docxtheodorelove43763
Even though technology has shifted HRM to strategic partner, has this change resulted in HRM losing sight of its role towards employee resource and support? While companies are seeing the value in moving to a technological based business, how might HRM technology impact the "human" side of "human resource"?
.
Even though people are aware that earthquakes and volcanoes typi.docxtheodorelove43763
Even though people are aware that earthquakes and volcanoes typically occur in consistent regions, many make their homes in these locations. Unfortunately, history shows that it is only a matter of time before the next occurrence.
Perform some research on earthquake and volcano incidents that had a negative effect on people in a region. Select a disaster event where, despite the loss of life and property, the residents choose to rebuild rather than abandon the region.
For your initial post:
In your initial post, address the following:
Describe the event you selected, including:
the type and magnitude of the event
where it occurred
when it occurred
the various ways in which people were affected
whether that type of disaster affects the region repeatedly
State your opinion regarding the following questions:
Why do you think people continue to make the known dangerous area their home?
Should governments allow people to live in known risk areas?
Should insurance companies allow claims for damages incurred in known risk areas?
.
Evaluative Essay 2 Grading RubricCriteriaLevels of Achievement.docxtheodorelove43763
Evaluative Essay 2 Grading Rubric
Criteria Levels of Achievement
Content 70% Advanced 90-100% (A) Proficient 70-89% (B-C) Developing 1-69% (< D) Not present
Analysis
30 points 30 to27 points
o Thesis statement provides a clear, strong analysis, responding to the topic prompt.
o Paper demonstrates exceptional critical thinking skills.
o Logical presentation of information, body supports the thesis statement.
26 to 21 points
o Thesis statement is clear but could be stronger.
o Paper demonstrates good critical thinking skills.
o Logical presentation with good connections, but could be stronger.
OR
o Thesis statement does not provide a clear analysis.
o OR Thesis statement is evident but misplaced (located somewhere other than the end of the introduction).
o Evidence of critical thinking skills, but analysis could be stronger or more evident.
o Weak logic, or missing connections.
20 to 1 points
o Missing thesis statement.
o Focus of paper is more informative than analytical, with details focusing on the what rather than the why or how.
0 points
o Does not meet minimum requirements for the assignment.
**See instructor feedback for specifics.
Support
30 points 30 to 27 points
o Draws from assigned sources for supporting details.
o Provides specific, detailed support.
o Clear connections are made throughout the writing to show how supporting documents prove the main argument.
o No outside sources were consulted or used.
26 to 21 points
o Draws from assigned sources for supporting details, but support could be more specific.
o Connections are made between supporting details and main argument, but these could be more clear.
OR
o Supporting details are provided but connections are largely missing between the supporting details and the main argument.
20 to 1 points
o To include any of the following:
o Supporting details drawn primarily from textbook/lectures, instead of assigned sources.
o OR
o Supporting details merely informative and do not show clear connection to the thesis.
o OR
o Outside sources used in support.
0 points
o Does not meet minimum requirements for the assignment.
**See instructor feedback for specifics.
Biblical Evaluation
10 points 10 to 9 points
o Clear, Biblical evaluation provided, drawing from specific Scripture for support.
8 to 7 points
o Biblical evaluation is evident, and some use of Scripture is given for support.
OR
o Attempt at Biblical evaluation is provided, but support could be stronger.
6 to 1 points
o Christian worldview is evident in the writing, and some examples or details may be given, but a specific Biblical evaluation is not evident/clear.
o No Scriptural support
o OR
o Scripture included but connections to evaluation are not evident.
o 0 points
o Does not meet minimum requirements for the assignment.
**See instructor feedback for specifics.
Structure 30% Advanced 90-100% (A) Proficient 70-89% (B-C) Developing 1-69% (< D) Not present
.
Evaluation Title Research DesignFor this first assignment, .docxtheodorelove43763
Evaluation Title: Research Design
For this first assignment, you will analyze different types of research. To begin, please read and view the following materials:
Rice University. (2017).
2.2 Approaches to research (Links to an external site.)Links to an external site.
. in,
Psychology
. OpenStax. [Electronic version]
University of Minnesota Libraries Publishing. (2010).
2.2 Psychologists use descriptive, correlational, and experimental research designs to understand behavior (Links to an external site.)Links to an external site.
. In Introduction to Psychology. [Electronic version]
Select one research design from column A
and
column B.
Describe the design.
Discuss the strengths and weaknesses of the design.
Give an example of a study completed using this design.
This information is all available in the Unit 1 Learning Content. There are also resources available online to further your understanding.
Your assignment should be typed into a Word or other word processing document, formatted in APA style. The assignment must include:
Running head
A title page with Assignment name
Your name
Professor’s name
Course
.
Evaluation is the set of processes and methods that managers and sta.docxtheodorelove43763
Evaluation is the set of processes and methods that managers and stakeholders use to determine whether the program is successful. Success is determined by multiple parameters such as financial viability of the program as well as the administrative and clinical impact of the program on the community’s or organization’s mission. Today’s programs are also expected to proactively address healthcare disparities and inequities in all levels of communities and demonstrate measureable reductions in inequities in diverse patient/client populations.
For this milestone, you will create an evaluation plan that will include the financial aspects of your proposed program as well as your evaluation methods. In your submission, be sure to include the following:
Proposed Program :to establish a department in IGM to facilitate holistic care of pediatric patients. This holistic care will require patients to be monitored before, during, and after a clinical procedure. The program will be flexible to ensure that each patient receives customized care at a subsidized fee.
Financial Aspects
o What specific resources would you suggest for use in your program? For example, what staffing and equipment suggestions would you make?
Be sure to explain your rationale.
o What is the impact on the community’s or organization’s current budget? In other words, will the program fit into the existing budget, or willconcessions need to be made?
o What recommendations would you make for ensuring the program is financially sustainable? Are there measurable expense reductions for the community/organization that cover the costs of the program? Does the program create new sources of revenue for the community or organization to offset the costs of the program?
Evaluation
o What will you measure (such as benchmarks, patient outcomes, or other measurable data) in order to evaluate the effectiveness of the program implementation? Focus on both administrative and clinical measures. Include multiple levels of measurement, including the patients/clients served, populations of patients/clients served, and community environmental measures.
o What tools will you use to measure the effect of your program on reducing the incidence of healthcare disparities?
o How will these evaluation tools tell you whether the program is successful?
o To what extent will the program help ensure healthcare equity across diverse populations? Be sure to justify your reasoning.
Guidelines for Submission: Your paper for this milestone must be submitted as a 2- to 3-page Microsoft Word document with double spacing, 12-point Times New Roman font, one-inch margins, and proper APA formatting. Include at least three peer-reviewed, scholarly resources.
.
Evaluation Plan with Policy RecommendationAfter a program ha.docxtheodorelove43763
Evaluation Plan with Policy Recommendation
After a program has been created, it must be evaluated in order to determine its success. For this assignment, complete the following:
Incorporate the changes to address the feedback received.
Use the feedback from your instructor to address pertinent sections for errors or insufficiencies. Implementing this feedback will help you draft this assignment and your course project.
Discuss the program to be introduced to the selected population to address the specific public health problem or issue.
Assess population needs, assets, and capacities that affect communities' health through epidemiological records and literature reviews. Explain activities and resources to be introduced and used for this program to change behaviors and health outcomes and why they are selected.
Describe the projected goals for the program.
Based on past studies and available data, analyze the projected expected effects of the program.
Identify the engaged stakeholders.
Describe those involved, those affected, and the primary intended users.
Gather credible evidence to substantiate the need for the program.
Identify past programs similar to the proposed program and the outcomes for those past programs.
Explain past study results and epidemiological data for similar programs implemented.
Justify conclusions on the past programs and provide lessons learned for implementing this program.
Analyze how data will be collected from program participants and other relevant stakeholders to determine program effectiveness.
Identify what instruments will be used to collect data, such as surveys, focus group interviews, or key informant interviews.
Determine who will analyze the data and how the data will be analyzed.
Propose policy recommendations.
Evaluate policies for their impact on public health and health equity. Discuss multiple dimensions of the policy-making process, including the roles of ethics and evidence.
Discuss dissemination and communication suggestions for the evaluation results both in writing and through oral presentation.
Explain how the results will be shared with key stakeholders and the community.
Identify how the results will inform future programs and how they can improve health outcomes.
View the scoring guide to ensure you fulfill all grading criteria.
Additional Requirements
Length:
A minimum of 10–12 double-spaced pages, not including title and reference pages.
Font:
Arial, 12 point.
References:
Cite at least eight references from peer-reviewed journals.
Format:
Use current APA style and formatting.
Resources
Evaluation Plan with Policy Recommendation Scoring Guide
.
APA Style Paper Tutorial [DOCX]
.
APA Style Paper Template [DOCX]
.
Capella Writing Center
.
Public Health Intervention Plan.
Capella University Library.
State Policy Guide: Using Research in Public Health Policymaking
.
Public Health Masters Research Guide
.
Pub.
Evaluate the history of the Data Encryption Standard (DES) and then .docxtheodorelove43763
Evaluate the history of the Data Encryption Standard (DES) and then how it has transformed cryptography with the advancement of triple DES. You are also required to post a response to a minimum of two other student in the class by the end of the week. You must use at least one scholarly resource. Every discussion posting must be properly APA formatted.
.
Evaluate the Health History and Medical Information for Mrs. J.,.docxtheodorelove43763
Evaluate the Health History and Medical Information for Mrs. J., presented below.
Based on this information, formulate a conclusion based on your evaluation, and complete the Critical Thinking Essay assignment, as instructed below.
Health History and Medical Information
Health History
Mrs. J. is a 63-year-old married woman who has a history of hypertension, chronic heart failure, and chronic obstructive pulmonary disease (COPD). Despite requiring 2L of oxygen/nasal cannula at home during activity, she continues to smoke two packs of cigarettes a day and has done so for 40 years. Three days ago, she had sudden onset of flu-like symptoms including fever, productive cough, nausea, and malaise. Over the past 3 days, she has been unable to perform ADLs and has required assistance in walking short distances. She has not taken her antihypertensive medications or medications to control her heart failure for 3 days. Today, she has been admitted to the hospital ICU with acute decompensated heart failure and acute exacerbation of COPD.
Subjective Data
1. Is very anxious and asks whether she is going to die.
2. Denies pain but says she feels like she cannot get enough air.
3. Says her heart feels like it is "running away."
4. Reports that she is exhausted and cannot eat or drink by herself.
Objective Data
1. Height 175 cm; Weight 95.5kg.
2. Vital signs: T 37.6C, HR 118 and irregular, RR 34, BP 90/58.
3. Cardiovascular: Distant S1, S2, S3 present; PMI at sixth ICS and faint: all peripheral pulses are 1+; bilateral jugular vein distention; initial cardiac monitoring indicates a ventricular rate of 132 and atrial fibrillation.
4. Respiratory: Pulmonary crackles; decreased breath sounds right lower lobe; coughing frothy blood-tinged sputum; SpO2 82%.
5. Gastrointestinal: BS present: hepatomegaly 4cm below costal margin.
Intervention
The following medications administered through drug therapy control her symptoms:
1. IV furosemide (Lasix)
2. Enalapril (Vasotec)
3. Metoprolol (Lopressor)
4. IV morphine sulphate (Morphine)
5. Inhaled short-acting bronchodilator (ProAir HFA)
6. Inhaled corticosteroid (Flovent HFA)
7. Oxygen delivered at 2L/ NC
Critical Thinking Essay
In 750-1,000 words, critically evaluate Mrs. J.'s situation. Include the following:
1. Describe the clinical manifestations present in Mrs. J.
2. Discuss whether the nursing interventions at the time of her admissions were appropriate for Mrs. J. and explain the rationale for each of the medications listed.
3. Describe four cardiovascular conditions that may lead to heart failure and what can be done in the form of medical/nursing interventions to prevent the development of heart failure in each condition.
4. Taking into consideration the fact that most mature adults take at least six prescription medications, discuss four nursing interventions that can help prevent problems caused by multiple drug interactions in older patients. Provide a rationale for each of the inte.
Evaluate the environmental factors that contribute to corporate mana.docxtheodorelove43763
Evaluate the environmental factors that contribute to corporate management’s need to manage corporate earnings to align with market expectations, indicating the potential long-term risks to financial performance and sustainability. Why are these factors important in evaluating the financial performance of an organization?
Please provide one citation or reference for your initial posting that is not your textbook.
.
June 3, 2024 Anti-Semitism Letter Sent to MIT President Kornbluth and MIT Cor...Levi Shapiro
Letter from the Congress of the United States regarding Anti-Semitism sent June 3rd to MIT President Sally Kornbluth, MIT Corp Chair, Mark Gorenberg
Dear Dr. Kornbluth and Mr. Gorenberg,
The US House of Representatives is deeply concerned by ongoing and pervasive acts of antisemitic
harassment and intimidation at the Massachusetts Institute of Technology (MIT). Failing to act decisively to ensure a safe learning environment for all students would be a grave dereliction of your responsibilities as President of MIT and Chair of the MIT Corporation.
This Congress will not stand idly by and allow an environment hostile to Jewish students to persist. The House believes that your institution is in violation of Title VI of the Civil Rights Act, and the inability or
unwillingness to rectify this violation through action requires accountability.
Postsecondary education is a unique opportunity for students to learn and have their ideas and beliefs challenged. However, universities receiving hundreds of millions of federal funds annually have denied
students that opportunity and have been hijacked to become venues for the promotion of terrorism, antisemitic harassment and intimidation, unlawful encampments, and in some cases, assaults and riots.
The House of Representatives will not countenance the use of federal funds to indoctrinate students into hateful, antisemitic, anti-American supporters of terrorism. Investigations into campus antisemitism by the Committee on Education and the Workforce and the Committee on Ways and Means have been expanded into a Congress-wide probe across all relevant jurisdictions to address this national crisis. The undersigned Committees will conduct oversight into the use of federal funds at MIT and its learning environment under authorities granted to each Committee.
• The Committee on Education and the Workforce has been investigating your institution since December 7, 2023. The Committee has broad jurisdiction over postsecondary education, including its compliance with Title VI of the Civil Rights Act, campus safety concerns over disruptions to the learning environment, and the awarding of federal student aid under the Higher Education Act.
• The Committee on Oversight and Accountability is investigating the sources of funding and other support flowing to groups espousing pro-Hamas propaganda and engaged in antisemitic harassment and intimidation of students. The Committee on Oversight and Accountability is the principal oversight committee of the US House of Representatives and has broad authority to investigate “any matter” at “any time” under House Rule X.
• The Committee on Ways and Means has been investigating several universities since November 15, 2023, when the Committee held a hearing entitled From Ivory Towers to Dark Corners: Investigating the Nexus Between Antisemitism, Tax-Exempt Universities, and Terror Financing. The Committee followed the hearing with letters to those institutions on January 10, 202
Introduction to AI for Nonprofits with Tapp NetworkTechSoup
Dive into the world of AI! Experts Jon Hill and Tareq Monaur will guide you through AI's role in enhancing nonprofit websites and basic marketing strategies, making it easy to understand and apply.
The Roman Empire A Historical Colossus.pdfkaushalkr1407
The Roman Empire, a vast and enduring power, stands as one of history's most remarkable civilizations, leaving an indelible imprint on the world. It emerged from the Roman Republic, transitioning into an imperial powerhouse under the leadership of Augustus Caesar in 27 BCE. This transformation marked the beginning of an era defined by unprecedented territorial expansion, architectural marvels, and profound cultural influence.
The empire's roots lie in the city of Rome, founded, according to legend, by Romulus in 753 BCE. Over centuries, Rome evolved from a small settlement to a formidable republic, characterized by a complex political system with elected officials and checks on power. However, internal strife, class conflicts, and military ambitions paved the way for the end of the Republic. Julius Caesar’s dictatorship and subsequent assassination in 44 BCE created a power vacuum, leading to a civil war. Octavian, later Augustus, emerged victorious, heralding the Roman Empire’s birth.
Under Augustus, the empire experienced the Pax Romana, a 200-year period of relative peace and stability. Augustus reformed the military, established efficient administrative systems, and initiated grand construction projects. The empire's borders expanded, encompassing territories from Britain to Egypt and from Spain to the Euphrates. Roman legions, renowned for their discipline and engineering prowess, secured and maintained these vast territories, building roads, fortifications, and cities that facilitated control and integration.
The Roman Empire’s society was hierarchical, with a rigid class system. At the top were the patricians, wealthy elites who held significant political power. Below them were the plebeians, free citizens with limited political influence, and the vast numbers of slaves who formed the backbone of the economy. The family unit was central, governed by the paterfamilias, the male head who held absolute authority.
Culturally, the Romans were eclectic, absorbing and adapting elements from the civilizations they encountered, particularly the Greeks. Roman art, literature, and philosophy reflected this synthesis, creating a rich cultural tapestry. Latin, the Roman language, became the lingua franca of the Western world, influencing numerous modern languages.
Roman architecture and engineering achievements were monumental. They perfected the arch, vault, and dome, constructing enduring structures like the Colosseum, Pantheon, and aqueducts. These engineering marvels not only showcased Roman ingenuity but also served practical purposes, from public entertainment to water supply.
Operation “Blue Star” is the only event in the history of Independent India where the state went into war with its own people. Even after about 40 years it is not clear if it was culmination of states anger over people of the region, a political game of power or start of dictatorial chapter in the democratic setup.
The people of Punjab felt alienated from main stream due to denial of their just demands during a long democratic struggle since independence. As it happen all over the word, it led to militant struggle with great loss of lives of military, police and civilian personnel. Killing of Indira Gandhi and massacre of innocent Sikhs in Delhi and other India cities was also associated with this movement.
Acetabularia Information For Class 9 .docxvaibhavrinwa19
Acetabularia acetabulum is a single-celled green alga that in its vegetative state is morphologically differentiated into a basal rhizoid and an axially elongated stalk, which bears whorls of branching hairs. The single diploid nucleus resides in the rhizoid.
Palestine last event orientationfvgnh .pptxRaedMohamed3
An EFL lesson about the current events in Palestine. It is intended to be for intermediate students who wish to increase their listening skills through a short lesson in power point.
Embracing GenAI - A Strategic ImperativePeter Windle
Artificial Intelligence (AI) technologies such as Generative AI, Image Generators and Large Language Models have had a dramatic impact on teaching, learning and assessment over the past 18 months. The most immediate threat AI posed was to Academic Integrity with Higher Education Institutes (HEIs) focusing their efforts on combating the use of GenAI in assessment. Guidelines were developed for staff and students, policies put in place too. Innovative educators have forged paths in the use of Generative AI for teaching, learning and assessments leading to pockets of transformation springing up across HEIs, often with little or no top-down guidance, support or direction.
This Gasta posits a strategic approach to integrating AI into HEIs to prepare staff, students and the curriculum for an evolving world and workplace. We will highlight the advantages of working with these technologies beyond the realm of teaching, learning and assessment by considering prompt engineering skills, industry impact, curriculum changes, and the need for staff upskilling. In contrast, not engaging strategically with Generative AI poses risks, including falling behind peers, missed opportunities and failing to ensure our graduates remain employable. The rapid evolution of AI technologies necessitates a proactive and strategic approach if we are to remain relevant.
Macroeconomics- Movie Location
This will be used as part of your Personal Professional Portfolio once graded.
Objective:
Prepare a presentation or a paper using research, basic comparative analysis, data organization and application of economic information. You will make an informed assessment of an economic climate outside of the United States to accomplish an entertainment industry objective.
Unit 8 - Information and Communication Technology (Paper I).pdfThiyagu K
This slides describes the basic concepts of ICT, basics of Email, Emerging Technology and Digital Initiatives in Education. This presentations aligns with the UGC Paper I syllabus.
Biological screening of herbal drugs: Introduction and Need for
Phyto-Pharmacological Screening, New Strategies for evaluating
Natural Products, In vitro evaluation techniques for Antioxidants, Antimicrobial and Anticancer drugs. In vivo evaluation techniques
for Anti-inflammatory, Antiulcer, Anticancer, Wound healing, Antidiabetic, Hepatoprotective, Cardio protective, Diuretics and
Antifertility, Toxicity studies as per OECD guidelines
Read| The latest issue of The Challenger is here! We are thrilled to announce that our school paper has qualified for the NATIONAL SCHOOLS PRESS CONFERENCE (NSPC) 2024. Thank you for your unwavering support and trust. Dive into the stories that made us stand out!
2024.06.01 Introducing a competency framework for languag learning materials ...Sandy Millin
http://sandymillin.wordpress.com/iateflwebinar2024
Published classroom materials form the basis of syllabuses, drive teacher professional development, and have a potentially huge influence on learners, teachers and education systems. All teachers also create their own materials, whether a few sentences on a blackboard, a highly-structured fully-realised online course, or anything in between. Despite this, the knowledge and skills needed to create effective language learning materials are rarely part of teacher training, and are mostly learnt by trial and error.
Knowledge and skills frameworks, generally called competency frameworks, for ELT teachers, trainers and managers have existed for a few years now. However, until I created one for my MA dissertation, there wasn’t one drawing together what we need to know and do to be able to effectively produce language learning materials.
This webinar will introduce you to my framework, highlighting the key competencies I identified from my research. It will also show how anybody involved in language teaching (any language, not just English!), teacher training, managing schools or developing language learning materials can benefit from using the framework.
How to Make a Field invisible in Odoo 17Celine George
It is possible to hide or invisible some fields in odoo. Commonly using “invisible” attribute in the field definition to invisible the fields. This slide will show how to make a field invisible in odoo 17.
Francesca Gottschalk - How can education support child empowerment.pptxEduSkills OECD
Francesca Gottschalk from the OECD’s Centre for Educational Research and Innovation presents at the Ask an Expert Webinar: How can education support child empowerment?
Francesca Gottschalk - How can education support child empowerment.pptx
Design and Realization of Experimental Autonomous Driving Syst.docx
1. Design and Realization of Experimental Autonomous Driving
System
Based on Neural Network Control
Qingfu Kong
1, a
, Fanming Zeng
2, b
, Jiechang Wu
3
and Jiaming Wu
4
1
College of Power Engineering, Naval University of
Engineering, Wuhan, 430033, China.
2
College of Power Engineering, Naval University of
Engineering, Wuhan, 430033, China.
3, 4
Naval University of Engineering, Wuhan, 430033, China.
a
[email protected],
b
2. [email protected]
Keywords: autonomous driving, neural network control, slot
car, intelligent vehicle.
Abstract. Intelligent vehicle is an attractive solution to the
traffic problems caused by automobiles.
An experimental autonomous driving system based on a slot car
set is designed and realized in the
paper. With the application of a wireless camera equipped on
the slot car, the track information is
acquired and sent to the controlling computer. A
backpropogation (BP) neural network controller is
built to imitate the way of player’s thinking. After being
trained, the neural network controller can
give the proper voltage instructions to the direct current (DC)
motor of the slot car according to
different track conditions. Test results prove that the
development of the autonomous driving
system is successful.
Introduction
Autonomous driving is a very important researching field of the
ITS (Intelligent Transportation
Systems). It means that no participation of the driver is required
while driving. After decades of
efforts, great progress has been made to advance the reliability
3. and security of autonomous driving.
It is reported that four driverless vehicles drove successfully
over 13,000 km from Italy to China as
an attempt to test the feasibility of autonomous driving in 2010
in the VIAC Challenge (The VisLab
Intercontinental Autonomous Challenge) [1].
In this paper, an experimental autonomous driving based on a
slot car set is designed and
realized. The slot car used to be operated through a joystick by
the player, but here it is fully
controlled by a computer. That is to say, the control computer is
applied to imitate the player’s way
of thinking; it can finally give the correct instruction to the slot
car according to different track
conditions. The general goal of the experiment is that, on the
premise of safe driving, the slot car
controlled by the computer can finish the race in a time as short
as possible. To achieve this goal, a
neural network controller is built in the computer to imitate the
player’s way of thinking.
Construction of the hardware platform
A photograph of the hardware platform is illustrated in figure 1.
It is composed of six subsystems:
5. http://www.ttp.net
sides of the guiding groove through short contact wire under the
car’s body, and the DC motor will
be driven by this voltage so that the slot car moves forward.
During its driving process, the slot car
needs only the control of driving speed, which is accomplished
by the control of the voltage
between the sides of the guiding groove. The control of driving
direction is achieved by the guiding
groove on the lane.
Figure 1. Photograph of the hardware platform.
Track information acquisition subsystem. During automobile
driving, the information of the
environment must firstly be acquired so that proper driving acts
can be executed. For the same
reason, the track information must firstly be acquired by a
certain sensor for realizing autonomous
driving in the experiment. After discussion and analysis on
several common used sensors, a camera
is chosen for track information acquisition in this experiment.
The camera has a 1mm pinhole lens
with a 62° viewing angle. It is placed on the front of the slot car
6. and its position can be adjusted to
both up and down and left and right.
Track information transmission subsystem. The track
information acquired by the camera needs
to be sent to the controlling computer for further processing.
There are usually two methods for
information transmission: transmission with wire and wireless
transmission. Considering that the
camera is placed on the slot car and moves with the car, it is
more convenient to adopt the wireless
transmission means. In the experiment a wireless camera is
chosen for both track information
acquisition and track information transmission, whose
photograph is presented in figure 2.
Figure 2. Photograph of the slot car with the wireless camera.
Information processing subsystem. The information processing
subsystem is just like the brain of
the player by manual operation mode. The tasks of this
subsystem include the following aspects:
receiving the images transmitted from the wireless camera and
other necessary information for
1954 Industrial Instrumentation and Control Systems
7. realizing autonomous driving, data processing of the acquired
information, giving corresponding
output variables for the slot car’s driving with a certain
controlling algorithms. In this experiment,
the software Matlab is chosen as the programming environment
because it meets most of the
functional requirements of these above tasks. Additionally,
considering that output signals of the
image acquisition subsystem and image transmission subsystem
are analogue signals, but only
digital signals can be processed by the computer, it should be
taken into account for a conversion
from analogue signal to digital signal. In order to reach this
goal, a video card is used between the
computer and the wireless receiver.
Motor control subsystem. Because the slot car is driven by a DC
motor, the controlling of the
speed of the slot car is equivalent to the controlling of the rotate
speed of the motor. For a DC motor
the rotate speed of the motor is decided mostly by the motor
voltage and the motor current. By
means of changing the motor voltage, the rotate speed of the
motor can be adjusted. So in the
8. experiment, instructions of the motor voltage will be given by
the controlling computer in order to
change the speed of the slot car. There is also a problem of
signal conversion here. Because
instructions from the computer are digital signals and the motor
voltage should be analogue signals,
so a Data Acquisition (DAQ) card is used here. Considering of
the voltage consistence, an amplifier
is placed between the output of the DAQ card and the track
voltage interface.
Speed measuring subsystem. It is essential in the experiment
that the speed of the slot car should
be measured. In order to achieve this goal, a speed sensor is
applied to be equipped in the slot car.
The measured electrical signal is sent to the control computer
per wireless communication. Finally,
the speed of the slot car is calculated by means of data
processing in Matlab software platform in
the control computer.
Figure 3 shows the main construction of the hardware platform
of the experiment.
Figure 3. Construction of the hardware platform.
9. Design and realization of the software platform
The work of developing the software platform of the experiment
focus on these three aspects:
information collecting, bending information processing, neural
network controller developing [3, 4].
Information collecting. The essential information for
autonomous driving in the experiment
consists of two categories: the bending information of the track
and the speed information of the
Applied Mechanics and Materials Vols. 241-244 1955
slot car. The former is designed to be extracted from the images
acquired and transmitted by the
wireless camera; the speed information is designed to be
directly obtained from the measured speed
parameter.
Bending information processing. The task of bending
information processing is to extract certain
feature parameters from the raw bending information data. The
first task here is to determine the
parameters that can best describe and represent the bending
information of the track in the images
10. captured by the camera. After detailed analysis and discussion,
the following parameters are
determined to be chosen as the feature parameters of the
bending information in the experiment:
number of the marks, shape centers of the identifying marks and
angle of the regression line. The
extracting algorithm of feature parameters are developed with
following steps: (1) Receiving a
greyscale image and turning the acquired greyscale image into a
binary image; (2) Labelling and
calculating all connected components in the binary image; (3)
Calculating the size of each labelled
component through scanning the whole image and sorting the
labelled components; (4) Calculating
the number of the marks by means of getting rid of interference
from the labelled components; (5)
Dividing the image area into three parts and calculating the
shape centers of all identifying marks in
each part; (6) Making the judgment according to certain rules.
That is to say, when the size
difference between the biggest mark and the second biggest
mark is smaller than a threshold, three
comprehensive shape centers of these two marks are taken as
the feature parameters; otherwise,
11. only the three shape centers of the biggest mark are taken as the
feature parameters; (7) Calculating
the regression line and the corresponding angle of the largest
component; (8) Outputting these eight
feature parameters of this image and then getting a new
greyscale image and repeating the
processing steps above. A result of the image processing block
is shown as examples in figure 4,
with which the effectiveness of the algorithm for image
processing can be proved.
Figure 4. A result of the bending information processing.
Design and realization of the neural network controller. In the
experiment, a neural network
controller is adopted to imitate the player’s way of thinking. It
is used to give the correct instruction
to the slot car according to different track conditions. With
consideration of its advantages for
control system, a BP network is determined to be adopted for
building the neural network controller
in the experiment.
Determination about the input layer. According to the principle
that the number of the neurons
in the input layer is determined by the number of the inputs
12. offered by the problem, nine neurons
are chosen to build the input layer of the BP network. In which
eight inputs are arranged for the
bending information of the track and one input for the
calculated speed: (1) One input for the
number of identification marks in the image; (2) Six inputs for
the coordinates of three shape
centers; (3) One input for the angle of the regression line; (4)
One input for the calculated speed.
1956 Industrial Instrumentation and Control Systems
Determination about the output layer. According to the principle
that the number of the
neurons in the output layer is constrained by the number of
outputs required by the problem, only
one neuron for the voltage output is needed for the output layer
of the BP network.
Determination about the hidden layers. With the consideration
that a two-layer BP network
can represent any functional relationship between the inputs and
the outputs if enough neurons are
included in the sigmoid layer, a hidden layer with five neurons
is chosen for the network in this
13. experiment after many tests.
The structure of the designed BP network controller in the
experiment is illustrated in figure 5.
Figure 5. Structure of the neural network controller.
Training and validation of the neural network controller. The
neural network controller
should first be trained and validated in order that it has the
ability to finish its function. The
selection of training data plays a very important role on the
final performances of the network. In
this experiment, the row training data is acquired by means of
storing certain parameters under
manual operating mode. The parameters include ten variables:
nine inputs and one output. All these
ten parameters are first normalized and stored with an array
structure. Then a certain algorithm is
developed to find out the optimal data from the raw data
according to the ninth parameter of the row
data, also the measured speed value of the slot car. All the
chosen optimal data are finally combined
to build the training data set, with which the neural network
controller is trained.
14. In order to test the performances of the trained network, a
comparison between the outputs of the
network (blue curve) and the original outputs (red curve) with a
certain validating data set is carried
out. The result is shown in figure 6, from which the validation
of the developed neural network
controller is proved.
Test results of the experimental autonomous driving
In order to test the performance of the developed autonomous
driving system, 20 competitions are
carried out between the autonomous driving slot car and an
other slot car under manual driving
mode. Among these 20 competitions, the autonomous driving
slot car won 14 competitions and the
manual driving slot car won 2 competitions. 4 competitions are
broken out because that the manual
driving slot car is thrown off the track. That is to say, the
autonomous driving slot car won 18
competitions in all 20 competitions. It is observed in the
experiment that the average speed of the
autonomous driving slot car reaches nearly 2.5 m/s. From the
test results it can be seen that the
development of the autonomous driving system is very
successful and effective.
15. Applied Mechanics and Materials Vols. 241-244 1957
Figure 6. Validation of the neural network controller.
Summary
An experimental autonomous driving based on a slot car set is
introduced in the paper. A wireless
camera is equipped on the slot car to acquire the track
information. In order to imitate the way of
play’s thinking, a neural network controller is built in the
control computer. Test results have
proved the effectiveness of the developed autonomous driving
system.
References
[1] M Bertozzi, L Bombini, A Broggi, The VIAC Challenge:
Setup of an Autonomous Vehicle for
a 13,000 km Intercontinental Unmanned Drive, R. VisLab,
University of Parma, ITALY, 2009.
[2] Qingfu Kong, Development of Image Analysis and Design of
the Neural Controller for the
Laboratory Experiment “Autonomous Driving”, D. University of
German Defence Force, Germany,
16. 2011.
[3] F Kay, J Bergholz, Driver Assistant Systems, M. Institute of
Automotive Engineering,
University of Braunschweig, Germany, 2006.
[4] K Yi, M Woo, S Kim, An Experimental Investigation of a
CW/CA System for Automobiles
Using Hardware-In-Loop Simulation, J. Proceedings of the
American Control Conference, USA,
1999, pp. 724-728.
1958 Industrial Instrumentation and Control Systems
Industrial Instrumentation and Control Systems
10.4028/www.scientific.net/AMM.241-244
Design and Realization of Experimental Autonomous Driving
System Based on Neural Network
Control
10.4028/www.scientific.net/AMM.241-244.1953
http://dx.doi.org/www.scientific.net/AMM.241-244
http://dx.doi.org/www.scientific.net/AMM.241-244.1953