scholarly journals A Smart Many-Core Implementation of a Motion Planning Framework along a Reference Path for Autonomous Cars

Electronics ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 177 ◽  
Author(s):  
Gianpiero Cabodi ◽  
Paolo Camurati ◽  
Alessandro Garbo ◽  
Michele Giorelli ◽  
Stefano Quer ◽  
...  
Keyword(s):  
Real Time ◽  
Graphics Processing Units ◽  
Data Communication ◽  
Computational Effort ◽  
Random Trees ◽  
Sequential Algorithm ◽  
Original Algorithm ◽  
Reference Path ◽  
Autonomous Cars

Research on autonomous cars, early intensified in the 1990s, is becoming one of the main research paths in automotive industry. Recent works use Rapidly-exploring Random Trees to explore the state space along a given reference path, and to compute the minimum time collision-free path in real time. Those methods do not require good approximations of the reference path, they are able to cope with discontinuous routes, they are capable of navigating in realistic traffic scenarios, and they derive their power from an extensive computational effort directed to improve the quality of the trajectory from step to step. In this paper, we focus on re-engineering an existing state-of-the-art sequential algorithm to obtain a CUDA-based GPGPU (General Purpose Graphics Processing Units) implementation. To do that, we show how to partition the original algorithm among several working threads running on the GPU, how to propagate information among threads, and how to synchronize those threads. We also give detailed evidence on how to organize memory transfers between the CPU and the GPU (and among different CUDA kernels) such that planning times are optimized and the available memory is not exceeded while storing massive amounts of fuse data. To sum up, in our application the GPU is used for all main operations, the entire application is developed in the CUDA language, and specific attention is paid to concurrency, synchronization, and data communication. We run experiments on several real scenarios, comparing the GPU implementation with the CPU one in terms of the quality of the generated paths and in terms of computation (wall-clock) times. The results of our experiments show that embedded GPUs can be used as an enabler for real-time applications of computationally expensive planning approaches.

Development and Application of Quality Control System for Highway Subgrade Construction

2019 ◽  
Vol 2 (5) ◽  
Author(s):  
Tong Wang
Keyword(s):  
Quality Control ◽  
Real Time ◽  
Detection Method ◽  
System Development ◽  
Effective Control ◽  
Construction Process ◽  
Development Mode ◽  
The Road ◽  
Whole Process

The compaction quality of the subgrade is directly related to the service life of the road. Effective control of the subgrade construction process is the key to ensuring the compaction quality of the subgrade. Therefore, real-time, comprehensive, rapid and accurate prediction of construction compaction quality through informatization detection method is an important guarantee for speeding up construction progress and ensuring subgrade compaction quality. Based on the function of the system, this paper puts forward the principle of system development and the development mode used in system development, and displays the development system in real-time to achieve the whole process control of subgrade construction quality.

CONTROL IN REAL TIME THE DENSITY OF PRODUCT AT VARIOUS STAGES OF THE TECHNOLOGICAL PROCESS OF SUGAR PRODUCTION

2020 ◽  
Author(s):  
S.B. Kudryashev ◽  
◽  
N.S. Assev ◽  
R.D. Belashov ◽  
V.A. Naumenko ◽  
...  
Keyword(s):  
Real Time ◽  
Technological Process ◽  
Sugar Industry ◽  
Sugar Production ◽  
Production Processes ◽  
Quality Of Products

The article is devoted to solving one of the most important problems of the development of the sugar industry in Russia – the modernization of sugar production processes. Today, sugar production is actively being modernized, shifting most of its processes to the path of avomatization and optimization to improve the quality of products. This article describes one of the main ways to obtain information about the concentration of sucrose in syrup in the production of sugar.

What's my App?

2021 ◽  
Vol 48 (4) ◽  
pp. 41-44
Author(s):  
Dena Markudova ◽  
Martino Trevisan ◽  
Paolo Garza ◽  
Michela Meo ◽  
Maurizio M. Munafo ◽  
...  
Keyword(s):  
Machine Learning ◽  
Natural Language Processing ◽  
Real Time ◽  
Language Processing ◽  
Traffic Management ◽  
Quality Of Experience ◽  
Broadband Internet ◽  
Management Policies ◽  
Control Traffic

With the spread of broadband Internet, Real-Time Communication (RTC) platforms have become increasingly popular and have transformed the way people communicate. Thus, it is fundamental that the network adopts traffic management policies that ensure appropriate Quality of Experience to users of RTC applications. A key step for this is the identification of the applications behind RTC traffic, which in turn allows to allocate adequate resources and make decisions based on the specific application's requirements. In this paper, we introduce a machine learning-based system for identifying the traffic of RTC applications. It builds on the domains contacted before starting a call and leverages techniques from Natural Language Processing (NLP) to build meaningful features. Our system works in real-time and is robust to the peculiarities of the RTP implementations of different applications, since it uses only control traffic. Experimental results show that our approach classifies 5 well-known meeting applications with an F1 score of 0.89.

scholarly journals Modules and Techniques for Motion Planning: An Industrial Perspective

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 420
Author(s):  
Stefano Quer ◽  
Luz Garcia
Keyword(s):  
Data Fusion ◽  
Autonomous Driving ◽  
Random Trees ◽  
Approximation Techniques ◽  
Main Research ◽  
Autonomous Cars ◽  
Critical Issues ◽  
Relative Errors ◽  
Path Planner ◽  
Many Core

Research on autonomous cars has become one of the main research paths in the automotive industry, with many critical issues that remain to be explored while considering the overall methodology and its practical applicability. In this paper, we present an industrial experience in which we build a complete autonomous driving system, from the sensor units to the car control equipment, and we describe its adoption and testing phase on the field. We report how we organize data fusion and map manipulation to represent the required reality. We focus on the communication and synchronization issues between the data-fusion device and the path-planner, between the CPU and the GPU units, and among different CUDA kernels implementing the core local planner module. In these frameworks, we propose simple representation strategies and approximation techniques which guarantee almost no penalty in terms of accuracy and large savings in terms of memory occupation and memory transfer times. We show how we adopt a recent implementation on parallel many-core devices, such as CUDA-based GPGPU, to reduce the computational burden of rapidly exploring random trees to explore the state space along with a given reference path. We report on our use of the controller and the vehicle simulator. We run experiments on several real scenarios, and we report the paths generated with the different settings, with their relative errors and computation times. We prove that our approach can generate reasonable paths on a multitude of standard maneuvers in real time.

scholarly journals Prevention of Mountain Disasters and Maintenance of Residential Area through Real-Time Terrain Rendering

2021 ◽  
Vol 13 (5) ◽  
pp. 2950
Author(s):  
Su-Kyung Sung ◽  
Eun-Seok Lee ◽  
Byeong-Seok Shin
Keyword(s):  
Real Time ◽  
Graphics Processing Units ◽  
High Speed ◽  
Large Scale ◽  
Civil Engineering ◽  
Three Dimensional ◽  
Sampled Data ◽  
Residential Areas ◽  
Terrain Rendering ◽  
Mountain Disasters

Climate change increases the frequency of localized heavy rains and typhoons. As a result, mountain disasters, such as landslides and earthworks, continue to occur, causing damage to roads and residential areas downstream. Moreover, large-scale civil engineering works, including dam construction, cause rapid changes in the terrain, which harm the stability of residential areas. Disasters, such as landslides and earthenware, occur extensively, and there are limitations in the field of investigation; thus, there are many studies being conducted to model terrain geometrically and to observe changes in terrain according to external factors. However, conventional topography methods are expressed in a way that can only be interpreted by people with specialized knowledge. Therefore, there is a lack of consideration for three-dimensional visualization that helps non-experts understand. We need a way to express changes in terrain in real time and to make it intuitive for non-experts to understand. In conventional height-based terrain modeling and simulation, there is a problem in which some of the sampled data are irregularly distorted and do not show the exact terrain shape. The proposed method utilizes a hierarchical vertex cohesion map to correct inaccurately modeled terrain caused by uniform height sampling, and to compensate for geometric errors using Hausdorff distances, while not considering only the elevation difference of the terrain. The mesh reconstruction, which triangulates the three-vertex placed at each location and makes it the smallest unit of 3D model data, can be done at high speed on graphics processing units (GPUs). Our experiments confirm that it is possible to express changes in terrain accurately and quickly compared with existing methods. These functions can improve the sustainability of residential spaces by predicting the damage caused by mountainous disasters or civil engineering works around the city and make it easy for non-experts to understand.

scholarly journals A palace fit for the future: Desirability in temporal work

2021 ◽  
pp. 147612702110120
Author(s):  
Siavash Alimadadi ◽  
Andrew Davies ◽  
Fredrik Tell
Keyword(s):  
Real Time ◽  
Crucial Role ◽  
The Past ◽  
Renewal Program ◽  
The Future ◽  
Depth Study ◽  
Future Events ◽  
Future Outcomes ◽  
Pluralistic Contexts

Research on the strategic organization of time often assumes that collective efforts are motivated by and oriented toward achieving desirable, although not necessarily well-defined, future states. In situations surrounded by uncertainty where work has to proceed urgently to avoid an impending disaster, however, temporal work is guided by engaging with both desirable and undesirable future outcomes. Drawing on a real-time, in-depth study of the inception of the Restoration and Renewal program of the Palace of Westminster, we investigate how organizational actors develop a strategy for an uncertain and highly contested future while safeguarding ongoing operations in the present and preserving the heritage of the past. Anticipation of undesirable future events played a crucial role in mobilizing collective efforts to move forward. We develop a model of future desirability in temporal work to identify how actors construct, link, and navigate interpretations of desirable and undesirable futures in their attempts to create a viable path of action. By conceptualizing temporal work based on the phenomenological quality of the future, we advance understanding of the strategic organization of time in pluralistic contexts characterized by uncertainty and urgency.

Application of the Real-Time EtherCAT Technology in Wind Power Control System

2012 ◽  
Vol 580 ◽  
pp. 155-159
Author(s):  
Xiang Ming Wang ◽  
Jin Chao Wang ◽  
Dong Hua Sun
Keyword(s):  
Control System ◽  
Real Time ◽  
Wind Power ◽  
High Speed ◽  
Communication Protocol ◽  
Data Communication ◽  
Data Acquisition System ◽  
Slave System ◽  
The Real ◽  
Wind Power System

In this paper, the real-time EtherCAT technology is introduced in detail, which including operating principle, communication protocol and the superiority performance of EtherCAT i.e. synchronicity, simultaneousness and high speed. To show how to design a slave system that considering the characteristics of application, the method of developing systems based no EtherCAT technology are proposed. Finally, a data acquisition system based on EtherCAT technology is designed. Application of EtherCAT technology can improve the real-time characteristics of data communication in wind power system.

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