In this study, the development of motion planning and control for collision avoidance driver
assistance systems is presented. A potential field approach has been used in formulating the collision
avoidance algorithm based on predicted vehicle motion. Then, to realize the advanced driver assistance
systems (ADAS) for collision avoidance, steering control system and direct yaw moment control (DYC) is
designed to follow the desired vehicle motion. Performance evaluation is conducted in simulation
environment in term of its performance in avoiding the obstacles. Simulation results show that the vehicle
collision avoidance assistance systems can successfully complete the avoidance behavior without
colliding.
Efficient robotic path planning algorithm based on artificial potential field IJECEIAES
Path planning is crucial for a robot to be able to reach a target point safely to accomplish a given mission. In path planning, three essential criteria have to be considered namely path length, computational complexity and completeness. Among established path planning methods are voronoi diagram (VD), cell decomposition (CD), probability roadmap (PRM), visibility graph (VG) and potential field (PF). The above-mentioned methods could not fulfill all three criteria simultaneously which limits their application in optimal and real-time path planning. This paper proposes a path PF-based planning algorithm called dynamic artificial PF (DAPF). The proposed algorithm is capable of eliminating the local minima that frequently occurs in the conventional PF while fulfilling the criterion of path planning. DAPF also integrates path pruning to shorten the planned path. In order to evaluate its performance, DAPF has been simulated and compared with VG in terms of path length and computational complexity. It is found that DAPF is consistent in generating paths with low computation time in obstacle-rich environments compared to VG. The paths produced also are nearly optimal with respect to VG.
Driver`s Steering Behaviour Identification and Modelling in Near Rear-End col...TELKOMNIKA JOURNAL
This paper studies and identifies driver`s steering manoeuvre behaviour in near rearend
collision. Time-To-Collision (TTC) is utilized in defining driver’s emergency threat
assessment. The target scenario is set up under real experimental environment and the
naturalistic data from the experiment are collected. Four normal drivers are employed for the
experiment to perform the manoeuvre. Artificial Neural Network (ANN) is proposed to model the
behaviour of the driver`s steering manoeuvre. The results show that all drivers manage to
perform steering manoeuvre within the safe TTC region and the modelling results from ANN are
reasonably positive. With further studies and improvements, this model would benefit to
evaluate the driving reliability to enhance traffic safety and Intelligent Transportation System.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
A new conceptual algorithm for adaptive route changing in urban environmentseSAT Journals
Abstract In this paper an attempt is shown in a Mathematical Model of an alternating route adapting for large scale, which was previously done in small scale. This evaluation is done considering 75 and above traffic junctions with a scale of 4 to 6 vehicular density per second in each junction. The main objective of this paper is to show how an Adaptive Route Changing [ARC] application responds to assumed scenario & also proposing effective software architecture to monitor traffic in all the junctions at real time to minimise traffic congestion. Keywords : ARC, Intelligent transport system, Traffic Monitoring.
Shared Steering Control between a Driver and an Automation: Stability in the ...paperpublications3
Abstract: Now-a-days the Automatic control has been increasingly implemented for vehicle control system. Especially the steering control is essential for preventing accidents. In the existing systems there is no fully automatic steering control and it has serious problems. When it is made automatic, the system complexity is more. So, the shared steering concept is used in the proposed system to avoid accidents. In this, the position of the road is found using the web camera installed in front of the vehicle which is connected to the PC installed with MATLAB. Using MATLAB the image is processed to check the road characteristics. This paper presents an advanced driver assistance system (ADAS) for lane keeping, together with an analysis of its performance and stability with respect to variations in driver behavior. The automotive ADAS proposed is designed to share control of the steering wheel with the driver in the best possible way. Its development was derived from an H2-Preview optimization control problem, which is based on a global driver–vehicle–road (DVR) system. The DVR model makes use of a cybernetic driver model to take into account any driver–vehicle interactions. Such a formulation allows 1) Considering driver assistance cooperation criteria in the control synthesis, 2) improving the performance of the assistance as a cooperative copilot, and 3) analyzing the stability of the whole system in the presence of driver model uncertainty. The developed assistance system improved lane-keeping performance and reduced the risk of a lane departure accident. Good results were obtained using several criteria for human–machine cooperation. Poor stability situations were successfully avoided due to the robustness of the whole system, in spite of a large range of driver model uncertainty.
Efficient robotic path planning algorithm based on artificial potential field IJECEIAES
Path planning is crucial for a robot to be able to reach a target point safely to accomplish a given mission. In path planning, three essential criteria have to be considered namely path length, computational complexity and completeness. Among established path planning methods are voronoi diagram (VD), cell decomposition (CD), probability roadmap (PRM), visibility graph (VG) and potential field (PF). The above-mentioned methods could not fulfill all three criteria simultaneously which limits their application in optimal and real-time path planning. This paper proposes a path PF-based planning algorithm called dynamic artificial PF (DAPF). The proposed algorithm is capable of eliminating the local minima that frequently occurs in the conventional PF while fulfilling the criterion of path planning. DAPF also integrates path pruning to shorten the planned path. In order to evaluate its performance, DAPF has been simulated and compared with VG in terms of path length and computational complexity. It is found that DAPF is consistent in generating paths with low computation time in obstacle-rich environments compared to VG. The paths produced also are nearly optimal with respect to VG.
Driver`s Steering Behaviour Identification and Modelling in Near Rear-End col...TELKOMNIKA JOURNAL
This paper studies and identifies driver`s steering manoeuvre behaviour in near rearend
collision. Time-To-Collision (TTC) is utilized in defining driver’s emergency threat
assessment. The target scenario is set up under real experimental environment and the
naturalistic data from the experiment are collected. Four normal drivers are employed for the
experiment to perform the manoeuvre. Artificial Neural Network (ANN) is proposed to model the
behaviour of the driver`s steering manoeuvre. The results show that all drivers manage to
perform steering manoeuvre within the safe TTC region and the modelling results from ANN are
reasonably positive. With further studies and improvements, this model would benefit to
evaluate the driving reliability to enhance traffic safety and Intelligent Transportation System.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
A new conceptual algorithm for adaptive route changing in urban environmentseSAT Journals
Abstract In this paper an attempt is shown in a Mathematical Model of an alternating route adapting for large scale, which was previously done in small scale. This evaluation is done considering 75 and above traffic junctions with a scale of 4 to 6 vehicular density per second in each junction. The main objective of this paper is to show how an Adaptive Route Changing [ARC] application responds to assumed scenario & also proposing effective software architecture to monitor traffic in all the junctions at real time to minimise traffic congestion. Keywords : ARC, Intelligent transport system, Traffic Monitoring.
Shared Steering Control between a Driver and an Automation: Stability in the ...paperpublications3
Abstract: Now-a-days the Automatic control has been increasingly implemented for vehicle control system. Especially the steering control is essential for preventing accidents. In the existing systems there is no fully automatic steering control and it has serious problems. When it is made automatic, the system complexity is more. So, the shared steering concept is used in the proposed system to avoid accidents. In this, the position of the road is found using the web camera installed in front of the vehicle which is connected to the PC installed with MATLAB. Using MATLAB the image is processed to check the road characteristics. This paper presents an advanced driver assistance system (ADAS) for lane keeping, together with an analysis of its performance and stability with respect to variations in driver behavior. The automotive ADAS proposed is designed to share control of the steering wheel with the driver in the best possible way. Its development was derived from an H2-Preview optimization control problem, which is based on a global driver–vehicle–road (DVR) system. The DVR model makes use of a cybernetic driver model to take into account any driver–vehicle interactions. Such a formulation allows 1) Considering driver assistance cooperation criteria in the control synthesis, 2) improving the performance of the assistance as a cooperative copilot, and 3) analyzing the stability of the whole system in the presence of driver model uncertainty. The developed assistance system improved lane-keeping performance and reduced the risk of a lane departure accident. Good results were obtained using several criteria for human–machine cooperation. Poor stability situations were successfully avoided due to the robustness of the whole system, in spite of a large range of driver model uncertainty.
International Journal of Research in Engineering and Science is an open access peer-reviewed international forum for scientists involved in research to publish quality and refereed papers. Papers reporting original research or experimentally proved review work are welcome. Papers for publication are selected through peer review to ensure originality, relevance, and readability.
The Effects of Vehicle Speeds on Accident Frequency within Settlements along ...IJMER
Literature provides overwhelming evidence that a strong relationship exist between
vehicle speed and accident risk, and an outcome severity in the event of an accident. Excessive speed
is said to be a major causal factor of road accidents on trunk roads; contributing 60% of all vehicular
accidents. However, speed rationalization measures implemented on a number of trunk roads in
Ghana have realized very little success. This study therefore investigated the effects of vehicle speeds
on accident frequency within settlements along trunk roads. Data was collected on accidents, vehicle
speeds and other road and environment-related features for ninety-nine (99) settlements delineated
from four (4) trunk roads. Correlation analysis was employed to establish useful relationships and
provided insight into the contributions of relevant road and environmental-related variables to the
occurrence of road traffic accidents. Using the Negative Binomial error structure within the
Generalized Linear Model framework, core (flow-based) models were formulated based on accident
data and exposure variables (vehicle mileage, daily pedestrian flow and travel speed). Incremental
addition of relevant explanatory variables further expanded the core models into comprehensive
models. Findings indicate the main risk factors are number of accesses, daily pedestrian flow and
total vehicle kilometers driven, as vehicle speed did not appear to influence the occurrence of road
traffic accidents within settlements along trunk roads. In settlement corridors, mitigating accident
risks should not focus only on traffic calming but rather on measures that reduce pedestrian and
vehicular conflict situations as well as improve conspicuity around junctions
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
Offine/Online Optimum Routing of a UAV using Auxiliary Points IJECEIAES
This paper presents a method to determine the route of a three-dimensional UAV. Three criteria; the height, the length of flight path and the un authorized areas are used as the constraints and combined in a fuzzy function as the evaluation function. The article aimed to discover a minimum cost route from source to destination considering the constrains. In this paper a new searching methodis proposed, with use of auxiliary points. The auxiliary point method iterativelydivides a straight line to two shorter lines with less cost of evaluation function. Implementation results show that the proposed method dramatically decreasesthe calculations; meanwhile the ight route is sub-optimum.
Conflict-free dynamic route multi-agv using dijkstra Floyd-warshall hybrid a...IJECEIAES
Autonomous Guided Vehicle is a mobile robot that can move autonomously on a route or lane in an indoor or outdoor environment while performing a series of tasks. Determination of the shortest route on an autonomous guided vehicle is one of the optimization problems in handling conflict- free routes that have an influence on the distribution of goods in the manufacturing industry's warehouse. Pickup and delivery processes in the distribution on AGV goods such as scheduling, shipping, and determining the route of vehicle with short mileage characteristics, is very possible to do simulations with three AGV units. There is a windows time limit on workstations that limits shipping. The problem of determining the route in this study is considered necessary as a multi-vehicle route problem with a time window. This study aims to describe the combination of algorithms written based on dynamic programming to overcome the problem of conflict-free AGV routes using time windows. The combined approach of the Dijkstra and Floyd-Warshall algorithm results in the optimization of the closest distance in overcoming conflict-free routes.
Abstract - Positioning is a fundamental component of human life to make meaningful interpretations of the environment. Without knowledge of position, human beings are like machines and have very limited capabilities to interact with the environment. Even machines in today’s world can be made smarter if positioning information is made available to them. Indoor positioning of pedestrians is the broad area considered in this thesis. A foot mounted pedestrian tracking device has been studied for this purpose. Systems which utilize foot mounted inertial navigation system has been in the literature for more than two decades. However very few real time implementations have been possible. The purpose of this thesis is to benchmark and improve the performance of one such implementation.
SIMULTANEOUS OPTIMIZATION OF SEMIACTIVE QUARTER CAR SUSPENSION PARAMETERS USI...ijmech
In present paper, a methodology is presented related to the optimization of semi-active quarter car model
suspension parameters having three degrees of freedom, subjected to bump type of road excitation.
Influence of primary suspension stiffness, primary suspension damping, secondary suspension stiffness and
secondary suspension damping are studied on the passenger ride comfort, taking root mean square (RMS)
values of passenger seat displacement and settling time into account. Semi-active quarter car model
assembled with magneto-rheological (MR) shock absorber is selected for optimization of suspension
parameters using Taguchi method in combination with Grey relational analysis. Confirmatory results with
simulation run indicates that the optimized results of suspension parameters are helpful in achieving the
best ride comfort to travelling passengers in terms of minimization of passenger seat displacement and
settling time values.
DYNAMIC TRAFFIC LIGHT CONTROL SCHEME FOR REDUCING CO2EMISSIONS EMPLOYING ETC ...ijmpict
With the increasing growth of vehicle numbers in the world, Global warming is becoming a serious issue. Vehicle CO2 emissions are considered to be one of the main sources of global warming. In order to reduce vehicles CO2 emissions, a dynamic traffic light control scheme is proposed. In the proposed scheme, we are the first to use Electronic Toll Collection (ETC) devices to obtain real time traffic flow information for a traffic control centre. By the proposed scheme, vehicles can pass through intersections with less waiting time and fewer numbers of stops. By smoothing vehicle travel, CO2 emissions can be reduced. Compared with fixed time control, the simulation results indicate that the proposed scheme has much better performance: vehicle average waiting time is greatly reduced and CO2 emissions can also be
reduced.
A two Stage Fuzzy Logic Adaptive Traffic Signal Control for an Isolated Inter...ijtsrd
In this paper, a two stage fuzzy logic system has been proposed to control an isolated intersection adaptively. The aim of this work is to minimize the average waiting time for a different traffic flow rates in real time means. In the first stage, the system consists of two modules named next phase selection module and the green phase extension module. In the second stage the system consists of the decision named module. The study was performed using SUMO traffic simulator. A comparison is made between a fuzzy logic controller and a conventional fixed time controller. As a result, fuzzy logic controller has shown better performance. Taha Mahmood | Muzamil Eltejani Mohammed Ali | Akif Durdu ""A two Stage Fuzzy Logic Adaptive Traffic Signal Control for an Isolated Intersection Based on Real Data using SUMO Simulator"" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-3 | Issue-4 , June 2019, URL: https://www.ijtsrd.com/papers/ijtsrd23873.pdf
Paper URL: https://www.ijtsrd.com/engineering/electronics-and-communication-engineering/23873/a-two-stage-fuzzy-logic-adaptive-traffic-signal-control-for-an-isolated-intersection-based-on-real-data-using-sumo-simulator/taha-mahmood
International Journal of Computational Engineering Research(IJCER)ijceronline
International Journal of Computational Engineering Research(IJCER) is an intentional online Journal in English monthly publishing journal. This Journal publish original research work that contributes significantly to further the scientific knowledge in engineering and Technology.
Presentation by Professor Toshio YOSHII of Ehime University of Japan, delivered as a guest seminar during a visit to the Institute for Transport Studies, July 2014.
It is well known that traffic accident tends to occur more in congested flow state than in flee flow state. The developing simulation can estimate the traffic accident risk considering these traffic states. The traffic accident risk shows the likelihood of the occurrence of accidents. 3 traffic states are considered in the analysis, which are free flow, congested flow and mixed flow. The simulation can estimate traffic states at each link and using these states the risk estimation model can estimate traffic accident risks. The risk estimation model has been developed by Poisson regression analysis. The results of the Poisson regression analysis is presented.
2019-2020 research findings in Public Transit from the Centre for Transport Studies, University of TWENTE. The presented findings at the Transportation Research board include overcrowding, operational control, electric buses, and train assignment.
Motorcycle Movement Model Based on Markov Chain Process in Mixed TrafficIJECEIAES
Mixed traffic systems are dynamically complex since there are many parameters and variables that influence the interactions between the different kinds of vehicles. Modeling the behavior of vehicles, especially motorcycle which has erratic behavior is still being developed continuously, especially in developing countries which have heterogeneous traffic. To get a better understanding of motorcycle behavior, one can look at maneuvers performed by drivers. In this research, we tried to build a model of motorcycle movement which only focused on maneuver action to avoid the obstacle along with the trajectories using a Markov Chain approach. In Markov Chain, the maneuver of motorcycle will described by state transition. The state transition model is depend on probability function which will use for determine what action will be executed next. The maneuver of motorcycle using Markov Chain model was validated by comparing the analytical result with the naturalistic data, with similarity is calculated using MSE. In order to know how good our proposed method can describe the maneuver of motorcycle, we try to compare the MSE of the trajectory based on Markov Chain model with those using polynomial approach. The MSE results showed the performance of Markov Chain Model give the smallest MSE which 0.7666 about 0.24 better than 4 order polynomial.
ETC ASSISTED TRAFFIC LIGHT CONTROL SCHEME FOR REDUCING VEHICLES’ CO2 EMISSIONSIJMIT JOURNAL
This paper presents a vehicle’s CO2 emission reduction scheme by an ETC-assisted real-time traffic light
control scheme in vehicular networks. Using Electronic Toll Collection (ETC) devices, real-time road
conditions can be obtained by wireless communication between the ETC devices and the traffic lights. A
decision tree classification algorithm is used to assign the changing policy for the traffic lights, and then
the optimal average waiting time can be calculated. Less waiting time will result in less fuel consumption
and fewer CO2 emissions. Compared with the most widely used fixed time control, the ETC-assisted real-
time traffic light control scheme has much better performances in reducing the average waiting time,
improving non-stop passing rate, and reducing CO2 emission.
International Journal of Research in Engineering and Science is an open access peer-reviewed international forum for scientists involved in research to publish quality and refereed papers. Papers reporting original research or experimentally proved review work are welcome. Papers for publication are selected through peer review to ensure originality, relevance, and readability.
The Effects of Vehicle Speeds on Accident Frequency within Settlements along ...IJMER
Literature provides overwhelming evidence that a strong relationship exist between
vehicle speed and accident risk, and an outcome severity in the event of an accident. Excessive speed
is said to be a major causal factor of road accidents on trunk roads; contributing 60% of all vehicular
accidents. However, speed rationalization measures implemented on a number of trunk roads in
Ghana have realized very little success. This study therefore investigated the effects of vehicle speeds
on accident frequency within settlements along trunk roads. Data was collected on accidents, vehicle
speeds and other road and environment-related features for ninety-nine (99) settlements delineated
from four (4) trunk roads. Correlation analysis was employed to establish useful relationships and
provided insight into the contributions of relevant road and environmental-related variables to the
occurrence of road traffic accidents. Using the Negative Binomial error structure within the
Generalized Linear Model framework, core (flow-based) models were formulated based on accident
data and exposure variables (vehicle mileage, daily pedestrian flow and travel speed). Incremental
addition of relevant explanatory variables further expanded the core models into comprehensive
models. Findings indicate the main risk factors are number of accesses, daily pedestrian flow and
total vehicle kilometers driven, as vehicle speed did not appear to influence the occurrence of road
traffic accidents within settlements along trunk roads. In settlement corridors, mitigating accident
risks should not focus only on traffic calming but rather on measures that reduce pedestrian and
vehicular conflict situations as well as improve conspicuity around junctions
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
Offine/Online Optimum Routing of a UAV using Auxiliary Points IJECEIAES
This paper presents a method to determine the route of a three-dimensional UAV. Three criteria; the height, the length of flight path and the un authorized areas are used as the constraints and combined in a fuzzy function as the evaluation function. The article aimed to discover a minimum cost route from source to destination considering the constrains. In this paper a new searching methodis proposed, with use of auxiliary points. The auxiliary point method iterativelydivides a straight line to two shorter lines with less cost of evaluation function. Implementation results show that the proposed method dramatically decreasesthe calculations; meanwhile the ight route is sub-optimum.
Conflict-free dynamic route multi-agv using dijkstra Floyd-warshall hybrid a...IJECEIAES
Autonomous Guided Vehicle is a mobile robot that can move autonomously on a route or lane in an indoor or outdoor environment while performing a series of tasks. Determination of the shortest route on an autonomous guided vehicle is one of the optimization problems in handling conflict- free routes that have an influence on the distribution of goods in the manufacturing industry's warehouse. Pickup and delivery processes in the distribution on AGV goods such as scheduling, shipping, and determining the route of vehicle with short mileage characteristics, is very possible to do simulations with three AGV units. There is a windows time limit on workstations that limits shipping. The problem of determining the route in this study is considered necessary as a multi-vehicle route problem with a time window. This study aims to describe the combination of algorithms written based on dynamic programming to overcome the problem of conflict-free AGV routes using time windows. The combined approach of the Dijkstra and Floyd-Warshall algorithm results in the optimization of the closest distance in overcoming conflict-free routes.
Abstract - Positioning is a fundamental component of human life to make meaningful interpretations of the environment. Without knowledge of position, human beings are like machines and have very limited capabilities to interact with the environment. Even machines in today’s world can be made smarter if positioning information is made available to them. Indoor positioning of pedestrians is the broad area considered in this thesis. A foot mounted pedestrian tracking device has been studied for this purpose. Systems which utilize foot mounted inertial navigation system has been in the literature for more than two decades. However very few real time implementations have been possible. The purpose of this thesis is to benchmark and improve the performance of one such implementation.
SIMULTANEOUS OPTIMIZATION OF SEMIACTIVE QUARTER CAR SUSPENSION PARAMETERS USI...ijmech
In present paper, a methodology is presented related to the optimization of semi-active quarter car model
suspension parameters having three degrees of freedom, subjected to bump type of road excitation.
Influence of primary suspension stiffness, primary suspension damping, secondary suspension stiffness and
secondary suspension damping are studied on the passenger ride comfort, taking root mean square (RMS)
values of passenger seat displacement and settling time into account. Semi-active quarter car model
assembled with magneto-rheological (MR) shock absorber is selected for optimization of suspension
parameters using Taguchi method in combination with Grey relational analysis. Confirmatory results with
simulation run indicates that the optimized results of suspension parameters are helpful in achieving the
best ride comfort to travelling passengers in terms of minimization of passenger seat displacement and
settling time values.
DYNAMIC TRAFFIC LIGHT CONTROL SCHEME FOR REDUCING CO2EMISSIONS EMPLOYING ETC ...ijmpict
With the increasing growth of vehicle numbers in the world, Global warming is becoming a serious issue. Vehicle CO2 emissions are considered to be one of the main sources of global warming. In order to reduce vehicles CO2 emissions, a dynamic traffic light control scheme is proposed. In the proposed scheme, we are the first to use Electronic Toll Collection (ETC) devices to obtain real time traffic flow information for a traffic control centre. By the proposed scheme, vehicles can pass through intersections with less waiting time and fewer numbers of stops. By smoothing vehicle travel, CO2 emissions can be reduced. Compared with fixed time control, the simulation results indicate that the proposed scheme has much better performance: vehicle average waiting time is greatly reduced and CO2 emissions can also be
reduced.
A two Stage Fuzzy Logic Adaptive Traffic Signal Control for an Isolated Inter...ijtsrd
In this paper, a two stage fuzzy logic system has been proposed to control an isolated intersection adaptively. The aim of this work is to minimize the average waiting time for a different traffic flow rates in real time means. In the first stage, the system consists of two modules named next phase selection module and the green phase extension module. In the second stage the system consists of the decision named module. The study was performed using SUMO traffic simulator. A comparison is made between a fuzzy logic controller and a conventional fixed time controller. As a result, fuzzy logic controller has shown better performance. Taha Mahmood | Muzamil Eltejani Mohammed Ali | Akif Durdu ""A two Stage Fuzzy Logic Adaptive Traffic Signal Control for an Isolated Intersection Based on Real Data using SUMO Simulator"" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-3 | Issue-4 , June 2019, URL: https://www.ijtsrd.com/papers/ijtsrd23873.pdf
Paper URL: https://www.ijtsrd.com/engineering/electronics-and-communication-engineering/23873/a-two-stage-fuzzy-logic-adaptive-traffic-signal-control-for-an-isolated-intersection-based-on-real-data-using-sumo-simulator/taha-mahmood
International Journal of Computational Engineering Research(IJCER)ijceronline
International Journal of Computational Engineering Research(IJCER) is an intentional online Journal in English monthly publishing journal. This Journal publish original research work that contributes significantly to further the scientific knowledge in engineering and Technology.
Presentation by Professor Toshio YOSHII of Ehime University of Japan, delivered as a guest seminar during a visit to the Institute for Transport Studies, July 2014.
It is well known that traffic accident tends to occur more in congested flow state than in flee flow state. The developing simulation can estimate the traffic accident risk considering these traffic states. The traffic accident risk shows the likelihood of the occurrence of accidents. 3 traffic states are considered in the analysis, which are free flow, congested flow and mixed flow. The simulation can estimate traffic states at each link and using these states the risk estimation model can estimate traffic accident risks. The risk estimation model has been developed by Poisson regression analysis. The results of the Poisson regression analysis is presented.
2019-2020 research findings in Public Transit from the Centre for Transport Studies, University of TWENTE. The presented findings at the Transportation Research board include overcrowding, operational control, electric buses, and train assignment.
Motorcycle Movement Model Based on Markov Chain Process in Mixed TrafficIJECEIAES
Mixed traffic systems are dynamically complex since there are many parameters and variables that influence the interactions between the different kinds of vehicles. Modeling the behavior of vehicles, especially motorcycle which has erratic behavior is still being developed continuously, especially in developing countries which have heterogeneous traffic. To get a better understanding of motorcycle behavior, one can look at maneuvers performed by drivers. In this research, we tried to build a model of motorcycle movement which only focused on maneuver action to avoid the obstacle along with the trajectories using a Markov Chain approach. In Markov Chain, the maneuver of motorcycle will described by state transition. The state transition model is depend on probability function which will use for determine what action will be executed next. The maneuver of motorcycle using Markov Chain model was validated by comparing the analytical result with the naturalistic data, with similarity is calculated using MSE. In order to know how good our proposed method can describe the maneuver of motorcycle, we try to compare the MSE of the trajectory based on Markov Chain model with those using polynomial approach. The MSE results showed the performance of Markov Chain Model give the smallest MSE which 0.7666 about 0.24 better than 4 order polynomial.
ETC ASSISTED TRAFFIC LIGHT CONTROL SCHEME FOR REDUCING VEHICLES’ CO2 EMISSIONSIJMIT JOURNAL
This paper presents a vehicle’s CO2 emission reduction scheme by an ETC-assisted real-time traffic light
control scheme in vehicular networks. Using Electronic Toll Collection (ETC) devices, real-time road
conditions can be obtained by wireless communication between the ETC devices and the traffic lights. A
decision tree classification algorithm is used to assign the changing policy for the traffic lights, and then
the optimal average waiting time can be calculated. Less waiting time will result in less fuel consumption
and fewer CO2 emissions. Compared with the most widely used fixed time control, the ETC-assisted real-
time traffic light control scheme has much better performances in reducing the average waiting time,
improving non-stop passing rate, and reducing CO2 emission.
DYNAMIC RESOURCE ALLOCATION IN ROAD TRANSPORT SECTOR USING MOBILE CLOUD COMPU...IAEME Publication
Literature review revealed application of various techniques for efficient use of existing resources in road transport sector vehicles, operators and related facilities. This issue assumes bigger dimensions in situations where there are multiple routes and the demand in the routes is highly fluctuating over the day. The application of the existing techniques as reported in literature addresses above issues to a considerable extent. However the main draw back in existing techniques is lack of
proper uninterrupted information about vehicles and demand available at a central place for allocation of vehicles in different roads and huge computational times required for processing. Cloud computing is a recently developed processing tool that is used in effective utilization of resources in transport sector under dynamic resource allocation.
Presentation on advance traffic engineering.pptxEtahEneji1
This presentation was done to fulfil the course requirement for the pursuit of my M. ENG on the course title: Advanced traffic engineering Course code : (CIV 8331).
Course Lecturer : ENGR. PROF H. M. AlHASSAN
Evaluation of operational efficiency of urban road network using travel time ...eSAT Journals
Abstract
Efficiency of the road network system is analyzed by travel time reliability measures. The study overlooks on an important measure of
travel time reliability and prioritizing Tiruchirappalli road network. Traffic volume and travel time were collected using license plate
matching method. Travel time measures were estimated from average travel time and 95th travel time. Effect of non-motorized vehicle
on efficiency of road system was evaluated. Relation between buffer time index and traffic volume was created. Travel time model has
been developed and travel time measure was validated. Then service quality of road sections in network were graded based on
travel time reliability measures.
Keywords: Buffer Time Index (BTI); Average Travel Time (ATT); Travel Time Reliability (TTR); Buffer Time (BT).
Evaluation of operational efficiency of urban road network using travel time ...eSAT Journals
Abstract
Efficiency of the road network system is analyzed by travel time reliability measures. The study overlooks on an important measure of
travel time reliability and prioritizing Tiruchirappalli road network. Traffic volume and travel time were collected using license plate
matching method. Travel time measures were estimated from average travel time and 95th travel time. Effect of non-motorized vehicle
on efficiency of road system was evaluated. Relation between buffer time index and traffic volume was created. Travel time model has
been developed and travel time measure was validated. Then service quality of road sections in network were graded based on
travel time reliability measures.
Keywords: Buffer Time Index (BTI); Average Travel Time (ATT); Travel Time Reliability (TTR); Buffer Time (BT).
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
Car-Following Parameters by Means of Cellular Automata in the Case of EvacuationCSCJournals
This study is attention to the car-following model, an important part in the micro traffic flow. Different from Nagel–Schreckenberg’s studies in which car-following model without agent drivers and diligent ones, agent drivers and diligent ones are proposed in the car-following part in this work and lane-changing is also presented in the model. The impact of agent drivers and diligent ones under certain circumstances such as in the case of evacuation is considered. Based on simulation results, the relations between evacuation time and diligent drivers are obtained by using different amounts of agent drivers; comparison between previous (Nagel–Schreckenberg) and proposed model is also found in order to find the evacuation time. Besides, the effectiveness of reduction the evacuation time is presented for various agent drivers and diligent ones.
A survey of ranging techniques for vehicle localization in intelligence tran...IJECEIAES
Observing the vehicles movement becomes an urgent necessity due to exponentially increasing numbers of vehicles in the world. However, to this regard, a good deal of research had been presented to estimate the exact physical position of the vehicle. The major challenges faced vehicle localization systems are large coverage areas required, positioning at diverse environments and positioning during a high-speed movement. However, in this paper, the challenges of employing the vehicle localization techniques, which rely on the propagation signal properties, are discussed. Moreover, a comparison between these techniques, in terms of accuracy, responsiveness, scalability, cost, and complexity, is conducted. The presented positioning technologies are classified into five categories: satellite based, radio frequency based, radio waves based, optical based, and sound based. The discussion shows that, both of satellite-based technology and cellular-based technology are emerge solutions to overcome the challenges of vehicle positioning. Satellite-based can provide a high accurate positioning in open outdoor environment, whereas the cellular-based can provide accurate and reliable vehicle localization in urban environment, it can support non-line of sight (NLOS) positioning and provide large coverage and high data transmission. The paper also shows that, the standalone localization technology still has limitations. Therefore, we discussed how the presented techniques are integrated to improve the positioning performance.
Intelligent road surface quality evaluation using rough mereologyMohamed Mostafa
The road surface condition information is very useful for the safety of road users and to inform road administrators
for conducting appropriate maintenance. Roughness features of road surface; such as speed bumps and potholes, have bad effects on road users and their vehicles. Usually speed bumps are used to slow motor-vehicle traffic in specific areas in order to increase
safety conditions. On the other hand driving over speed bumps at high speeds could cause accidents or be the reason for spinal injury. Therefore informing road users of the position of speed bumps through their journey on the road especially at night or when lighting is poor would be a valuable feature. This paper exploits a mobile sensor computing framework to monitor and assess road surface conditions. The framework measures the changes in the gravity orientation through a gyroscope and the shifts in the accelerator's indications, both as an assessment
for the existence of speed bumps. The proposed classification approach used the theory of rough mereology to rank the modified data in order to make a useful recommendation to road users.
Amazon products reviews classification based on machine learning, deep learni...TELKOMNIKA JOURNAL
In recent times, the trend of online shopping through e-commerce stores and websites has grown to a huge extent. Whenever a product is purchased on an e-commerce platform, people leave their reviews about the product. These reviews are very helpful for the store owners and the product’s manufacturers for the betterment of their work process as well as product quality. An automated system is proposed in this work that operates on two datasets D1 and D2 obtained from Amazon. After certain preprocessing steps, N-gram and word embedding-based features are extracted using term frequency-inverse document frequency (TF-IDF), bag of words (BoW) and global vectors (GloVe), and Word2vec, respectively. Four machine learning (ML) models support vector machines (SVM), logistic regression (RF), logistic regression (LR), multinomial Naïve Bayes (MNB), two deep learning (DL) models convolutional neural network (CNN), long-short term memory (LSTM), and standalone bidirectional encoder representations (BERT) are used to classify reviews as either positive or negative. The results obtained by the standard ML, DL models and BERT are evaluated using certain performance evaluation measures. BERT turns out to be the best-performing model in the case of D1 with an accuracy of 90% on features derived by word embedding models while the CNN provides the best accuracy of 97% upon word embedding features in the case of D2. The proposed model shows better overall performance on D2 as compared to D1.
Design, simulation, and analysis of microstrip patch antenna for wireless app...TELKOMNIKA JOURNAL
In this study, a microstrip patch antenna that works at 3.6 GHz was built and tested to see how well it works. In this work, Rogers RT/Duroid 5880 has been used as the substrate material, with a dielectric permittivity of 2.2 and a thickness of 0.3451 mm; it serves as the base for the examined antenna. The computer simulation technology (CST) studio suite is utilized to show the recommended antenna design. The goal of this study was to get a more extensive transmission capacity, a lower voltage standing wave ratio (VSWR), and a lower return loss, but the main goal was to get a higher gain, directivity, and efficiency. After simulation, the return loss, gain, directivity, bandwidth, and efficiency of the supplied antenna are found to be -17.626 dB, 9.671 dBi, 9.924 dBi, 0.2 GHz, and 97.45%, respectively. Besides, the recreation uncovered that the transfer speed side-lobe level at phi was much better than those of the earlier works, at -28.8 dB, respectively. Thus, it makes a solid contender for remote innovation and more robust communication.
Design and simulation an optimal enhanced PI controller for congestion avoida...TELKOMNIKA JOURNAL
In this paper, snake optimization algorithm (SOA) is used to find the optimal gains of an enhanced controller for controlling congestion problem in computer networks. M-file and Simulink platform is adopted to evaluate the response of the active queue management (AQM) system, a comparison with two classical controllers is done, all tuned gains of controllers are obtained using SOA method and the fitness function chose to monitor the system performance is the integral time absolute error (ITAE). Transient analysis and robust analysis is used to show the proposed controller performance, two robustness tests are applied to the AQM system, one is done by varying the size of queue value in different period and the other test is done by changing the number of transmission control protocol (TCP) sessions with a value of ± 20% from its original value. The simulation results reflect a stable and robust behavior and best performance is appeared clearly to achieve the desired queue size without any noise or any transmission problems.
Improving the detection of intrusion in vehicular ad-hoc networks with modifi...TELKOMNIKA JOURNAL
Vehicular ad-hoc networks (VANETs) are wireless-equipped vehicles that form networks along the road. The security of this network has been a major challenge. The identity-based cryptosystem (IBC) previously used to secure the networks suffers from membership authentication security features. This paper focuses on improving the detection of intruders in VANETs with a modified identity-based cryptosystem (MIBC). The MIBC is developed using a non-singular elliptic curve with Lagrange interpolation. The public key of vehicles and roadside units on the network are derived from number plates and location identification numbers, respectively. Pseudo-identities are used to mask the real identity of users to preserve their privacy. The membership authentication mechanism ensures that only valid and authenticated members of the network are allowed to join the network. The performance of the MIBC is evaluated using intrusion detection ratio (IDR) and computation time (CT) and then validated with the existing IBC. The result obtained shows that the MIBC recorded an IDR of 99.3% against 94.3% obtained for the existing identity-based cryptosystem (EIBC) for 140 unregistered vehicles attempting to intrude on the network. The MIBC shows lower CT values of 1.17 ms against 1.70 ms for EIBC. The MIBC can be used to improve the security of VANETs.
Conceptual model of internet banking adoption with perceived risk and trust f...TELKOMNIKA JOURNAL
Understanding the primary factors of internet banking (IB) acceptance is critical for both banks and users; nevertheless, our knowledge of the role of users’ perceived risk and trust in IB adoption is limited. As a result, we develop a conceptual model by incorporating perceived risk and trust into the technology acceptance model (TAM) theory toward the IB. The proper research emphasized that the most essential component in explaining IB adoption behavior is behavioral intention to use IB adoption. TAM is helpful for figuring out how elements that affect IB adoption are connected to one another. According to previous literature on IB and the use of such technology in Iraq, one has to choose a theoretical foundation that may justify the acceptance of IB from the customer’s perspective. The conceptual model was therefore constructed using the TAM as a foundation. Furthermore, perceived risk and trust were added to the TAM dimensions as external factors. The key objective of this work was to extend the TAM to construct a conceptual model for IB adoption and to get sufficient theoretical support from the existing literature for the essential elements and their relationships in order to unearth new insights about factors responsible for IB adoption.
Efficient combined fuzzy logic and LMS algorithm for smart antennaTELKOMNIKA JOURNAL
The smart antennas are broadly used in wireless communication. The least mean square (LMS) algorithm is a procedure that is concerned in controlling the smart antenna pattern to accommodate specified requirements such as steering the beam toward the desired signal, in addition to placing the deep nulls in the direction of unwanted signals. The conventional LMS (C-LMS) has some drawbacks like slow convergence speed besides high steady state fluctuation error. To overcome these shortcomings, the present paper adopts an adaptive fuzzy control step size least mean square (FC-LMS) algorithm to adjust its step size. Computer simulation outcomes illustrate that the given model has fast convergence rate as well as low mean square error steady state.
Design and implementation of a LoRa-based system for warning of forest fireTELKOMNIKA JOURNAL
This paper presents the design and implementation of a forest fire monitoring and warning system based on long range (LoRa) technology, a novel ultra-low power consumption and long-range wireless communication technology for remote sensing applications. The proposed system includes a wireless sensor network that records environmental parameters such as temperature, humidity, wind speed, and carbon dioxide (CO2) concentration in the air, as well as taking infrared photos.The data collected at each sensor node will be transmitted to the gateway via LoRa wireless transmission. Data will be collected, processed, and uploaded to a cloud database at the gateway. An Android smartphone application that allows anyone to easily view the recorded data has been developed. When a fire is detected, the system will sound a siren and send a warning message to the responsible personnel, instructing them to take appropriate action. Experiments in Tram Chim Park, Vietnam, have been conducted to verify and evaluate the operation of the system.
Wavelet-based sensing technique in cognitive radio networkTELKOMNIKA JOURNAL
Cognitive radio is a smart radio that can change its transmitter parameter based on interaction with the environment in which it operates. The demand for frequency spectrum is growing due to a big data issue as many Internet of Things (IoT) devices are in the network. Based on previous research, most frequency spectrum was used, but some spectrums were not used, called spectrum hole. Energy detection is one of the spectrum sensing methods that has been frequently used since it is easy to use and does not require license users to have any prior signal understanding. But this technique is incapable of detecting at low signal-to-noise ratio (SNR) levels. Therefore, the wavelet-based sensing is proposed to overcome this issue and detect spectrum holes. The main objective of this work is to evaluate the performance of wavelet-based sensing and compare it with the energy detection technique. The findings show that the percentage of detection in wavelet-based sensing is 83% higher than energy detection performance. This result indicates that the wavelet-based sensing has higher precision in detection and the interference towards primary user can be decreased.
A novel compact dual-band bandstop filter with enhanced rejection bandsTELKOMNIKA JOURNAL
In this paper, we present the design of a new wide dual-band bandstop filter (DBBSF) using nonuniform transmission lines. The method used to design this filter is to replace conventional uniform transmission lines with nonuniform lines governed by a truncated Fourier series. Based on how impedances are profiled in the proposed DBBSF structure, the fractional bandwidths of the two 10 dB-down rejection bands are widened to 39.72% and 52.63%, respectively, and the physical size has been reduced compared to that of the filter with the uniform transmission lines. The results of the electromagnetic (EM) simulation support the obtained analytical response and show an improved frequency behavior.
Deep learning approach to DDoS attack with imbalanced data at the application...TELKOMNIKA JOURNAL
A distributed denial of service (DDoS) attack is where one or more computers attack or target a server computer, by flooding internet traffic to the server. As a result, the server cannot be accessed by legitimate users. A result of this attack causes enormous losses for a company because it can reduce the level of user trust, and reduce the company’s reputation to lose customers due to downtime. One of the services at the application layer that can be accessed by users is a web-based lightweight directory access protocol (LDAP) service that can provide safe and easy services to access directory applications. We used a deep learning approach to detect DDoS attacks on the CICDDoS 2019 dataset on a complex computer network at the application layer to get fast and accurate results for dealing with unbalanced data. Based on the results obtained, it is observed that DDoS attack detection using a deep learning approach on imbalanced data performs better when implemented using synthetic minority oversampling technique (SMOTE) method for binary classes. On the other hand, the proposed deep learning approach performs better for detecting DDoS attacks in multiclass when implemented using the adaptive synthetic (ADASYN) method.
The appearance of uncertainties and disturbances often effects the characteristics of either linear or nonlinear systems. Plus, the stabilization process may be deteriorated thus incurring a catastrophic effect to the system performance. As such, this manuscript addresses the concept of matching condition for the systems that are suffering from miss-match uncertainties and exogeneous disturbances. The perturbation towards the system at hand is assumed to be known and unbounded. To reach this outcome, uncertainties and their classifications are reviewed thoroughly. The structural matching condition is proposed and tabulated in the proposition 1. Two types of mathematical expressions are presented to distinguish the system with matched uncertainty and the system with miss-matched uncertainty. Lastly, two-dimensional numerical expressions are provided to practice the proposed proposition. The outcome shows that matching condition has the ability to change the system to a design-friendly model for asymptotic stabilization.
Implementation of FinFET technology based low power 4×4 Wallace tree multipli...TELKOMNIKA JOURNAL
Many systems, including digital signal processors, finite impulse response (FIR) filters, application-specific integrated circuits, and microprocessors, use multipliers. The demand for low power multipliers is gradually rising day by day in the current technological trend. In this study, we describe a 4×4 Wallace multiplier based on a carry select adder (CSA) that uses less power and has a better power delay product than existing multipliers. HSPICE tool at 16 nm technology is used to simulate the results. In comparison to the traditional CSA-based multiplier, which has a power consumption of 1.7 µW and power delay product (PDP) of 57.3 fJ, the results demonstrate that the Wallace multiplier design employing CSA with first zero finding logic (FZF) logic has the lowest power consumption of 1.4 µW and PDP of 27.5 fJ.
Evaluation of the weighted-overlap add model with massive MIMO in a 5G systemTELKOMNIKA JOURNAL
The flaw in 5G orthogonal frequency division multiplexing (OFDM) becomes apparent in high-speed situations. Because the doppler effect causes frequency shifts, the orthogonality of OFDM subcarriers is broken, lowering both their bit error rate (BER) and throughput output. As part of this research, we use a novel design that combines massive multiple input multiple output (MIMO) and weighted overlap and add (WOLA) to improve the performance of 5G systems. To determine which design is superior, throughput and BER are calculated for both the proposed design and OFDM. The results of the improved system show a massive improvement in performance ver the conventional system and significant improvements with massive MIMO, including the best throughput and BER. When compared to conventional systems, the improved system has a throughput that is around 22% higher and the best performance in terms of BER, but it still has around 25% less error than OFDM.
Reflector antenna design in different frequencies using frequency selective s...TELKOMNIKA JOURNAL
In this study, it is aimed to obtain two different asymmetric radiation patterns obtained from antennas in the shape of the cross-section of a parabolic reflector (fan blade type antennas) and antennas with cosecant-square radiation characteristics at two different frequencies from a single antenna. For this purpose, firstly, a fan blade type antenna design will be made, and then the reflective surface of this antenna will be completed to the shape of the reflective surface of the antenna with the cosecant-square radiation characteristic with the frequency selective surface designed to provide the characteristics suitable for the purpose. The frequency selective surface designed and it provides the perfect transmission as possible at 4 GHz operating frequency, while it will act as a band-quenching filter for electromagnetic waves at 5 GHz operating frequency and will be a reflective surface. Thanks to this frequency selective surface to be used as a reflective surface in the antenna, a fan blade type radiation characteristic at 4 GHz operating frequency will be obtained, while a cosecant-square radiation characteristic at 5 GHz operating frequency will be obtained.
Reagentless iron detection in water based on unclad fiber optical sensorTELKOMNIKA JOURNAL
A simple and low-cost fiber based optical sensor for iron detection is demonstrated in this paper. The sensor head consist of an unclad optical fiber with the unclad length of 1 cm and it has a straight structure. Results obtained shows a linear relationship between the output light intensity and iron concentration, illustrating the functionality of this iron optical sensor. Based on the experimental results, the sensitivity and linearity are achieved at 0.0328/ppm and 0.9824 respectively at the wavelength of 690 nm. With the same wavelength, other performance parameters are also studied. Resolution and limit of detection (LOD) are found to be 0.3049 ppm and 0.0755 ppm correspondingly. This iron sensor is advantageous in that it does not require any reagent for detection, enabling it to be simpler and cost-effective in the implementation of the iron sensing.
Impact of CuS counter electrode calcination temperature on quantum dot sensit...TELKOMNIKA JOURNAL
In place of the commercial Pt electrode used in quantum sensitized solar cells, the low-cost CuS cathode is created using electrophoresis. High resolution scanning electron microscopy and X-ray diffraction were used to analyze the structure and morphology of structural cubic samples with diameters ranging from 40 nm to 200 nm. The conversion efficiency of solar cells is significantly impacted by the calcination temperatures of cathodes at 100 °C, 120 °C, 150 °C, and 180 °C under vacuum. The fluorine doped tin oxide (FTO)/CuS cathode electrode reached a maximum efficiency of 3.89% when it was calcined at 120 °C. Compared to other temperature combinations, CuS nanoparticles crystallize at 120 °C, which lowers resistance while increasing electron lifetime.
In place of the commercial Pt electrode used in quantum sensitized solar cells, the low-cost CuS cathode is created using electrophoresis. High resolution scanning electron microscopy and X-ray diffraction were used to analyze the structure and morphology of structural cubic samples with diameters ranging from 40 nm to 200 nm. The conversion efficiency of solar cells is significantly impacted by the calcination temperatures of cathodes at 100 °C, 120 °C, 150 °C, and 180 °C under vacuum. The fluorine doped tin oxide (FTO)/CuS cathode electrode reached a maximum efficiency of 3.89% when it was calcined at 120 °C. Compared to other temperature combinations, CuS nanoparticles crystallize at 120 °C, which lowers resistance while increasing electron lifetime.
A progressive learning for structural tolerance online sequential extreme lea...TELKOMNIKA JOURNAL
This article discusses the progressive learning for structural tolerance online sequential extreme learning machine (PSTOS-ELM). PSTOS-ELM can save robust accuracy while updating the new data and the new class data on the online training situation. The robustness accuracy arises from using the householder block exact QR decomposition recursive least squares (HBQRD-RLS) of the PSTOS-ELM. This method is suitable for applications that have data streaming and often have new class data. Our experiment compares the PSTOS-ELM accuracy and accuracy robustness while data is updating with the batch-extreme learning machine (ELM) and structural tolerance online sequential extreme learning machine (STOS-ELM) that both must retrain the data in a new class data case. The experimental results show that PSTOS-ELM has accuracy and robustness comparable to ELM and STOS-ELM while also can update new class data immediately.
Electroencephalography-based brain-computer interface using neural networksTELKOMNIKA JOURNAL
This study aimed to develop a brain-computer interface that can control an electric wheelchair using electroencephalography (EEG) signals. First, we used the Mind Wave Mobile 2 device to capture raw EEG signals from the surface of the scalp. The signals were transformed into the frequency domain using fast Fourier transform (FFT) and filtered to monitor changes in attention and relaxation. Next, we performed time and frequency domain analyses to identify features for five eye gestures: opened, closed, blink per second, double blink, and lookup. The base state was the opened-eyes gesture, and we compared the features of the remaining four action gestures to the base state to identify potential gestures. We then built a multilayer neural network to classify these features into five signals that control the wheelchair’s movement. Finally, we designed an experimental wheelchair system to test the effectiveness of the proposed approach. The results demonstrate that the EEG classification was highly accurate and computationally efficient. Moreover, the average performance of the brain-controlled wheelchair system was over 75% across different individuals, which suggests the feasibility of this approach.
Adaptive segmentation algorithm based on level set model in medical imagingTELKOMNIKA JOURNAL
For image segmentation, level set models are frequently employed. It offer best solution to overcome the main limitations of deformable parametric models. However, the challenge when applying those models in medical images stills deal with removing blurs in image edges which directly affects the edge indicator function, leads to not adaptively segmenting images and causes a wrong analysis of pathologies wich prevents to conclude a correct diagnosis. To overcome such issues, an effective process is suggested by simultaneously modelling and solving systems’ two-dimensional partial differential equations (PDE). The first PDE equation allows restoration using Euler’s equation similar to an anisotropic smoothing based on a regularized Perona and Malik filter that eliminates noise while preserving edge information in accordance with detected contours in the second equation that segments the image based on the first equation solutions. This approach allows developing a new algorithm which overcome the studied model drawbacks. Results of the proposed method give clear segments that can be applied to any application. Experiments on many medical images in particular blurry images with high information losses, demonstrate that the developed approach produces superior segmentation results in terms of quantity and quality compared to other models already presented in previeous works.
Automatic channel selection using shuffled frog leaping algorithm for EEG bas...TELKOMNIKA JOURNAL
Drug addiction is a complex neurobiological disorder that necessitates comprehensive treatment of both the body and mind. It is categorized as a brain disorder due to its impact on the brain. Various methods such as electroencephalography (EEG), functional magnetic resonance imaging (FMRI), and magnetoencephalography (MEG) can capture brain activities and structures. EEG signals provide valuable insights into neurological disorders, including drug addiction. Accurate classification of drug addiction from EEG signals relies on appropriate features and channel selection. Choosing the right EEG channels is essential to reduce computational costs and mitigate the risk of overfitting associated with using all available channels. To address the challenge of optimal channel selection in addiction detection from EEG signals, this work employs the shuffled frog leaping algorithm (SFLA). SFLA facilitates the selection of appropriate channels, leading to improved accuracy. Wavelet features extracted from the selected input channel signals are then analyzed using various machine learning classifiers to detect addiction. Experimental results indicate that after selecting features from the appropriate channels, classification accuracy significantly increased across all classifiers. Particularly, the multi-layer perceptron (MLP) classifier combined with SFLA demonstrated a remarkable accuracy improvement of 15.78% while reducing time complexity.
Overview of the fundamental roles in Hydropower generation and the components involved in wider Electrical Engineering.
This paper presents the design and construction of hydroelectric dams from the hydrologist’s survey of the valley before construction, all aspects and involved disciplines, fluid dynamics, structural engineering, generation and mains frequency regulation to the very transmission of power through the network in the United Kingdom.
Author: Robbie Edward Sayers
Collaborators and co editors: Charlie Sims and Connor Healey.
(C) 2024 Robbie E. Sayers
Automobile Management System Project Report.pdfKamal Acharya
The proposed project is developed to manage the automobile in the automobile dealer company. The main module in this project is login, automobile management, customer management, sales, complaints and reports. The first module is the login. The automobile showroom owner should login to the project for usage. The username and password are verified and if it is correct, next form opens. If the username and password are not correct, it shows the error message.
When a customer search for a automobile, if the automobile is available, they will be taken to a page that shows the details of the automobile including automobile name, automobile ID, quantity, price etc. “Automobile Management System” is useful for maintaining automobiles, customers effectively and hence helps for establishing good relation between customer and automobile organization. It contains various customized modules for effectively maintaining automobiles and stock information accurately and safely.
When the automobile is sold to the customer, stock will be reduced automatically. When a new purchase is made, stock will be increased automatically. While selecting automobiles for sale, the proposed software will automatically check for total number of available stock of that particular item, if the total stock of that particular item is less than 5, software will notify the user to purchase the particular item.
Also when the user tries to sale items which are not in stock, the system will prompt the user that the stock is not enough. Customers of this system can search for a automobile; can purchase a automobile easily by selecting fast. On the other hand the stock of automobiles can be maintained perfectly by the automobile shop manager overcoming the drawbacks of existing system.
Courier management system project report.pdfKamal Acharya
It is now-a-days very important for the people to send or receive articles like imported furniture, electronic items, gifts, business goods and the like. People depend vastly on different transport systems which mostly use the manual way of receiving and delivering the articles. There is no way to track the articles till they are received and there is no way to let the customer know what happened in transit, once he booked some articles. In such a situation, we need a system which completely computerizes the cargo activities including time to time tracking of the articles sent. This need is fulfilled by Courier Management System software which is online software for the cargo management people that enables them to receive the goods from a source and send them to a required destination and track their status from time to time.
CFD Simulation of By-pass Flow in a HRSG module by R&R Consult.pptxR&R Consult
CFD analysis is incredibly effective at solving mysteries and improving the performance of complex systems!
Here's a great example: At a large natural gas-fired power plant, where they use waste heat to generate steam and energy, they were puzzled that their boiler wasn't producing as much steam as expected.
R&R and Tetra Engineering Group Inc. were asked to solve the issue with reduced steam production.
An inspection had shown that a significant amount of hot flue gas was bypassing the boiler tubes, where the heat was supposed to be transferred.
R&R Consult conducted a CFD analysis, which revealed that 6.3% of the flue gas was bypassing the boiler tubes without transferring heat. The analysis also showed that the flue gas was instead being directed along the sides of the boiler and between the modules that were supposed to capture the heat. This was the cause of the reduced performance.
Based on our results, Tetra Engineering installed covering plates to reduce the bypass flow. This improved the boiler's performance and increased electricity production.
It is always satisfying when we can help solve complex challenges like this. Do your systems also need a check-up or optimization? Give us a call!
Work done in cooperation with James Malloy and David Moelling from Tetra Engineering.
More examples of our work https://www.r-r-consult.dk/en/cases-en/
Sachpazis:Terzaghi Bearing Capacity Estimation in simple terms with Calculati...Dr.Costas Sachpazis
Terzaghi's soil bearing capacity theory, developed by Karl Terzaghi, is a fundamental principle in geotechnical engineering used to determine the bearing capacity of shallow foundations. This theory provides a method to calculate the ultimate bearing capacity of soil, which is the maximum load per unit area that the soil can support without undergoing shear failure. The Calculation HTML Code included.
Saudi Arabia stands as a titan in the global energy landscape, renowned for its abundant oil and gas resources. It's the largest exporter of petroleum and holds some of the world's most significant reserves. Let's delve into the top 10 oil and gas projects shaping Saudi Arabia's energy future in 2024.
Cosmetic shop management system project report.pdfKamal Acharya
Buying new cosmetic products is difficult. It can even be scary for those who have sensitive skin and are prone to skin trouble. The information needed to alleviate this problem is on the back of each product, but it's thought to interpret those ingredient lists unless you have a background in chemistry.
Instead of buying and hoping for the best, we can use data science to help us predict which products may be good fits for us. It includes various function programs to do the above mentioned tasks.
Data file handling has been effectively used in the program.
The automated cosmetic shop management system should deal with the automation of general workflow and administration process of the shop. The main processes of the system focus on customer's request where the system is able to search the most appropriate products and deliver it to the customers. It should help the employees to quickly identify the list of cosmetic product that have reached the minimum quantity and also keep a track of expired date for each cosmetic product. It should help the employees to find the rack number in which the product is placed.It is also Faster and more efficient way.
Quality defects in TMT Bars, Possible causes and Potential Solutions.PrashantGoswami42
Maintaining high-quality standards in the production of TMT bars is crucial for ensuring structural integrity in construction. Addressing common defects through careful monitoring, standardized processes, and advanced technology can significantly improve the quality of TMT bars. Continuous training and adherence to quality control measures will also play a pivotal role in minimizing these defects.
Industrial Training at Shahjalal Fertilizer Company Limited (SFCL)MdTanvirMahtab2
This presentation is about the working procedure of Shahjalal Fertilizer Company Limited (SFCL). A Govt. owned Company of Bangladesh Chemical Industries Corporation under Ministry of Industries.
2. ISSN: 1693-6930
TELKOMNIKA Vol. 15, No. 2, June 2017 : 853 – 860
854
in automotive vehicle navigation systems for collision avoidance. Motion planning using artificial
potential field was introduced by [7] and had been implemented in robotics field [8, 9] based on
idea in filling the robot workspace with the information from environment. Application of potential
field techniques in motion planning also had been extended into vehicle guidance systems
including lane keeping [10] and obstacle avoidance [11]. In executing the behavior of obstacle
avoidance, the control system is designed to ensure the desired vehicle motion is followed
safely without colliding.
This study presents the motion planning and control system for vehicle collision
avoidance driver assistance systems. The structure of this paper is divided into three main
parts; the second part described the formulation of motion planning to identify the vehicle
desired motion. This part also discussed on the control system designed based on proposed
collision avoidance algorithm to track the desired trajectory. The third part concentrated on the
simulation results of vehicle manuevre behaviour in avoiding the collision for a given driving
scenario. The conclusion and recommendation of future works are given in the final part of this
paper.
2. Collision Avoidance Motion Planning and Control System
This section described the motion planning and control system formulation for collision
avoidance system. In this work, motion planning was formulated using artificial potential field
approach while controller designed for lateral motion control was realized by steering wheel
controller and DYC.
2.1. Vehicle Collision Avoidance System Overview
Figure 1 shows the system overview of driver assistance systems for collision
avoidance. Firstly, the algorithm for collision avoidance was generated to identify desired yaw
rate value, by using potential field approach.
Figure 1. Collision avoidance driver assistance systems overview
2.2. Vehicle Collision Avoidance System Overview
In this work, potential field approach was used for motion planning in generating
collision avoidance algorithm due to mathematical simplicity [12] and minimal computational
effort [13]. The environmental information such as the goal to the target location and obstacle is
represented as attractive and repulsive potential energy respectively [14].
In general, the goal to the target location represented by attractive potential function
used to guide the vehicle to the desired destination. The road edges and the obstacles
represented by repulsive potential function that keep the obstacles far away from the vehicle as
well as to avoid the collision. In this work, the potential field formulation was calculated
regarding to the previous works that had been done in [13-17]. Several potential functions were
formulated for road edges and obstacle based on situation of two stationary obstacles located
on the straight lane. The summation of all potential functions value can be denoted as
Eequation (1).
(1)
3. TELKOMNIKA ISSN: 1693-6930
Potential Field Based Motion Planning with Steering Control and DYC… (Nurbaiti Wahid)
855
Potential function formulation of road edges was used to maintain the vehicle
movement on center of the lane when there is no obstacle. Each side of the lane represented
the highest potential energy to prevent the vehicle from lane departure. The formulation of
repulsive potential function of road edges can be expressed as following,
(2)
Where , and represented weight, standard deviation of the repulsive potential
function of the road edges and Y-coordinate of the road center respectively. Figure 2 shows the
potential function of road edges.
Figure 2. Repulsive potential function of road edges
The potential field function of stationary obstacles was computed to keep away the
vehicle from obstacles and remain the safety distance by increasing the potential energy
towards the direction of obstacles. The lane change manoeuvre was executed to avoid the
obstacle and the potential function of two stationary obstacles can be formulated as Equation
(3) and (4).
(3)
(4)
The and both exhibits potential function weight of stationary obstacles while
, , and represented standard deviation of X-Y direction and X-Y coordinate of
vehicle center. The potential function of two stationary obstacles is shown is Figure 3.
Figure 3. Repulsive potential function of stationary obstacles
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In this work, the parameters of the weight of potential function, , ,
and standard deviation of potential function, , and were used to modify
the shape of potential field energy that represented the road edges and stationary obstacles. By
referring to the equation (1), the total potential field energy map for road edges and obstacles is
illustrated in Figure 4.
Figure 4. Map for total potential field function
In realizing the driver assistance systems, the reference yaw rate value was calculated
to find the optimal performance function for motion planning based on work done in [16, 17].
The application of potential field with optimal control theory as in [16, 17] was implemented to
replace the gradient descent method [11] that generally used in creating the motion planning.
This method was used to avoid the local minima problem that might be existed during the task
execution. The prediction yaw rate value which consists of several yaw rate reference
candidates was computed for the range of and value and can be expressed
as following.
(5)
In this work, the and both was set to -0.5 rad/s and 0.5 rad/s
respectively. The vehicle position prediction value at prediction time horizon and evaluation cost
function of yaw rate reference value can be represented as equation (6) and (7) below:
(6)
(7)
where denoted as vehicle yaw angle. By using application of optimal control theory in [17], the
evaluation cost function for identification of yaw rate reference value can mathematically be
expressed as following equation. The reference yaw rate was defined from the minimum value
of evaluation cost function that was calculated on each sampling time where q specified as
weight of yaw rate prediction.
(8)
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2.3. Control System Formulation
In this work the lateral motion control algorithm was designed which consist of steering
control system and direct yaw moment control. This control strategy was applied in order to
track the vehicle desired motion for collision prevention. The reference steering angle was
determined by using linear single-track vehicle model based on inverse dynamics method in
following the desired path. The state-space represented the linear vehicle model equation can
be expressed as below:
(9)
where,
,
,
By using inverse method and negligible the effect of side slip angle, the steering angle value
can be calculated as in equation (10).
(10)
The desired steering angle was determined by considering the value of steering gear ratio and
can be computed as follows:
(11)
For direct yaw moment control, the corrective yaw moment and corrective distributed torque
both were formulated as equation (12) and (13) respectively based on works in [18, 19].
and referred to corrective yaw moment gain, indicated the tire wheel radius and
denoted as vehicle track width.
+ (12)
(13)
With approximation of vehicle longitudinal motion as one-wheel vehicle model, the longitudinal
force can be identified as following equation where indicated the vehicle running resistance.
(14)
3. Results and Discussion
3.1. Simulation Driving Scenario
In the simulation works, the driving scenario was created based on two stationary
obstacles (parking vehicle) located on the straight lane as shown in Figure 5. Additionally,
Table 1 tabulated the parameters value that had been set for the simulation scenario condition.
The parking vehicle, both was located at coordinate Xc01 and Xc02 of vehicle centre where Y-
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coordinate was set to Yc01 and Yc02 from the road centre. For simulation works the vehicle speed
was set to 50 km/h to evaluate the performance of collision avoidance assisting system.
Table 1. Parameters value of simulation driving scenario
Symbol Variable Value (SI unit)
V Vehicle velocity 50km/h
Xc01 Coordinate of X of stationary obstacle 1 49.8m
Xc02 Coordinate of X of stationary obstacle 2 151.2m
Yc01 Coordinate of Y of stationary obstacle 1 1m
Yc02 Coordinate of Y of stationary obstacle 2 1m
Y Lateral distance of road center 0
Figure 5. Simulation driving scenario
3.2. Simulation Results
The simulation results show the vehicle manoeuvre behaviour with regards to the lane
change for collision avoidance. The road edges and stationary obstacles potential function were
work together in effecting the manoeuvre behaviour as illustrated in Figure 6. From these
results, it had been noticed that the host vehicle can avoid the two stationary obstacles in stable
condition. By applying DYC, the vehicle speed value was diverse during the steering manoeuvre
in avoiding the obstacles. The vehicle speed was reduced when the vehicle did the lane change
to avoid the obstacle and start to increased again when the host vehicle went back to the
original lane.
The corrective yaw moment input, yaw rate, vehicle side slip and lateral acceleration
response is shown in Figure 7. The vehicle lateral motion can be controlled by regulating the
steering angle and driving torque based on reference yaw rate input. Additionally, with vehicle
speed=50 km/h, the host vehicle runs the avoidance manoeuvre through the minimum potential
field energy value without lane departure. The generated of desired vehicle lateral motion from
artificial potential field approach with application of optimal control theory as well as control
system strategy can keep the safety distance margin for collision avoidance.
Figure 6. Vehicle trajectory in avoiding obstacles
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Figure 7. Simulation results of vehicle behaviour.
4. Conclusion
In enhancing the performance of active safety, this paper described and studied the
motion planning of vehicle obstacle avoidance driver assistance systems based on artificial
potential field method. Several potential functions had been developed by considering two
stationary obstacles and road edges to describe the risk potential. Lane departure risk potential
and collision with obstacle risk potential was considered for control the lateral motion of host
vehicle. To complete the collision avoidance execution task, the control system had been
formulated based on steering wheel control and DYC. In this work, steering control system was
used to complete the steering avoidance manoeuvre while DYC will give the effect to the vehicle
speed by control the longitudinal motion of host vehicle. The performance evaluation of
proposed collision avoidance driver assistance systems had been investigated through the
simulation environment. From simulation results, it can be revealed that, the proposed driving
assistance systems for collision avoidance can successfully followed the avoidance manoeuvre
with surrounding obstacles. For the future studies, the formulated algorithm can be further
explored and expanded into dynamics vehicle collision avoidance environment considering
moving obstacles with different driving scenarios.
Acknowledgement
This work is funded by Ministry of Higher Education, Malaysia under Research
University Grant, Universiti Teknologi Malaysia (vote no: 13H73) and Perusahaan Otomobil
Nasional (PROTON) Sdn. Bhd (vote no: 4C099). The authors also would like to acknowledge
Assoc. Prof. Pongsathorn Raksincharoensak for the valuable knowledge and Smart Mobility
Research Centre, Tokyo University of Agriculture and Technology (TUAT) for the placement
given during the short-term attachment research programme.
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