Made available in DSpace on 2014-12-17T15:06:59Z (GMT). No. of bitstreams: 1 FernandoAP.pdf: 449536 bytes, checksum: b8b24355e1d20070bbb75016c3f426e4 (MD5) Previous issue date: 2005-12-15 / Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior / The Lusiads is an epic poem, written by Lu?s de Cam?es, about the adventure of Vasco da Gama s trip and the history of Portugal. It's based on traditionals epics from the Greek and Roman poets, Homero and Virg?lio. Cam?es followes especially their structures. However, the poet insert modifications that divert his poem from parameters established by Arist?teles for the classic epic poems. These deviations are centered mainly on the narrative subject and in the point of view. We intend to show an analysis focused on digressions from The Lusiads, in which the author, himself or by tellers characters, narrates the story in order to make his complaints, reflections and exhortations. Besides, we present general aspects of Maneirismo predominant in these digressions how evidences of modernity of the poem; as one brief outlook about the poem's projection in time and around the world. These points are importants elements of consolidation of a universal permanence of The Lusiads. That's why they have had to read and to study by the centuries, according the vision of the epoch's spirit / Os Lus?adas, de Lu?s de Cam?es, s?o um poema ?pico, sobre a aventura da viagem de Vasco da Gama e hist?ria de Portugal, concebido com base nas epop?ias tradicionais dos poetas greco-romanos Homero e Virg?lio. Cam?es segue os modelos ?picos tradicionais, especialmente quanto ? estrutura. Entretanto, insere inova??es que desviam sua obra dos paradigmas do g?nero cl?ssico postulados por Arist?teles. Esses desvios se d?o principalmente pelas freq?entes irrup??es de elementos pr?prios da poesia l?rica na mat?ria ?pica, o que possibilita a participa??o do autor na obra, tanto no plano da enuncia??o, quanto no plano do enunciado, assim como a inser??o dos acontecimentos de seu presente hist?rico na narrativa, em contradi??o com as epop?ias tradicionais, cuja principal caracter?stica ? o distanciamento imensur?vel entre o tempo da narra??o e o tempo dos acontecimentos narrados. Este trabalho apresenta uma an?lise dos excursos, digress?es atrav?s das quais Cam?es assume a narra??o em primeira pessoa ou atrav?s de personagens-narradoras, para exprimir suas cr?ticas e exorta??es, queixas pessoais e sociais, e reflex?es existenciais. Apresenta ainda os aspectos predominantes da est?tica maneirista como ind?cios de modernidade do poema, bem como um breve panorama de sua proje??o no tempo e no espa?o. Esses elementos s?o preponderantes na caracteriza??o d'Os Lus?adas como obra permanente e universal, que os fazem ser lidos e estudados atrav?s dos s?culos, atualizando-se de acordo com cada estilo de ?poca

This thesis is about the development of a function that assists the driver of a heavy vehicle to do an estimation over the possibilities to overtake a preceding heavy vehicle. The function utilizes Look-Ahead and vehicle-to-vehicle communication to do a calculation of the distance between the vehicles in some road distance ahead. Consequently the report also contains an investigation of what data that is needed to be known about a vehicle to be able to do a satisfying estimation about this vehicle. The most vital problem is to estimate what velocity the vehicle will get in an uphill/downhill slope. A Simulink model is developed to simulate the function with two independent vehicles. Real tests are also performed to evaluate the velocity estimation part of the function.

abstract: Though a single mode of energy transfer, optical radiation meaningfully interacts with its surrounding environment at over a wide range of physical length scales. For this reason, its reconstruction and measurement are of great importance in remote sensing, as these multi-scale interactions encode a great deal of information about distant objects, surfaces, and physical phenomena. For some remote sensing applications, obtaining a desired quantity of interest does not necessitate the explicit mapping of each point in object space to an image space with lenses or mirrors. Instead, only edge rays or physical boundaries of the sensing instrument are considered, while the spatial intensity distribution of optical energy received from a distant object informs its position, optical characteristics, or physical/chemical state. Admittedly specialized, the principals and consequences of non-imaging optics are nevertheless applicable to heterogeneous semiconductor integration and automotive light detection and ranging (LiDAR), two important emerging technologies. Indeed, a review of relevant engineering literature finds two under-addressed remote sensing challenges. The semiconductor industry lacks an optical strain metrology with displacement resolution smaller than 100 nanometers capable of measuring strain fields between high-density interconnect lines. Meanwhile, little attention is paid to the per-meter sensing characteristics of scene-illuminating flash LiDAR in the context of automotive applications, despite the technology’s much lower cost. It is here that non-imaging optics offers intriguing instrument design and explanations of observed sensor performance at vastly different length scales. In this thesis, an effective non-contact technique for mapping nanoscale mechanical strain fields and out-of-plane surface warping via laser diffraction is demonstrated, with application as a novel metrology for next-generation semiconductor packages. Additionally, object detection distance of low-cost automotive flash LiDAR, on the order of tens of meters, is understood though principals of optical energy transfer from the surface of a remote object to an extended multi-segment detector. Such information is of consequence when designing an automotive perception system to recognize various roadway objects in low-light scenarios. / Dissertation/Thesis / Doctoral Dissertation Electrical Engineering 2020

Advanced Driving Assistance Systems (ADAS) has the potential to decrease the number of fatal accidents in traffic. However, in some cases, drivers with the systems in their car are resistant against using them. Exploring the underlying reasons and factors of the low-usage of ADAS was the purpose of this thesis. The thesis consists of Study I, an exploratory interview study with ten drivers who had cars with ADAS. The goal of Study I was to highlight the possible reasons behind the low usage of ADAS. The results of Study I were used to design Study II, which consisted of a survey targeted to drivers who had access to the ADAS adaptive cruise control and lane keep assist (N = 49). The results indicate that the factors or circumstances that affect usage depend on the ADAS and the user groups. Some identified underlying factors for low usage behavior of ADAS are the need to monitor the vehicle more when ADAS is activated and lack of trust in own ability when using ADAS compared to the high usage group. / Advanced Driving Assistance Systems (ADAS) har potential att förhindra antalet dödsfall i trafiken. Det förekommer att förare som har systemen i sin bil, väljer bort att använda dem. Syftet med den här uppsatsen var att undersöka underliggande orsaker och faktorer till låg användningsgrad av ADAS. Uppsatsen består av två studier. Studie I är en explorativ intervjustudie med tio förare som hade bilar med ADAS. Målet med Studie I var att ringa in de möjliga bakomliggande faktorerna för låg användningsgrad av ADAS. Resultaten från Studie I användes för att utforma en enkätstudie till Studie II som var riktad till förare som hade bilar med förarstödsystemen adaptiv farthållare och körfältsassistans (N = 49). Resultaten pekar på att de underliggande orsakerna och faktorerna beror på vilken ADAS som avses samt vilket användargrupp föraren tillhör. Några underliggande faktorer för låg användingsgruppen tycks vara känsla av att behöva övervaka fordonet samt lägre grad av tilltro till den egna förmågan än vad höganvändingsgrupper rapporterade.

This thesis is carried out in the context of Advanced Driver Assistance Systems, and especially autonomous vehicles. Its aim is to propose a method to enhance localization of vehicles on roads. I suggests using a camera to detect lane markings, and to match these to a map to extract the corrected position of the vehicle.The thesis is divided in three parts dealing with: the map, the line detector and the evaluation. The map is based on the OpenStreetMap data. The line detector is a based on ridge detection. The results are compared with an Iterative Closest Point algorithm. It also focuses on implementing the components under a real-time constraint. Technologies such as ROS, for synchronization of the data, and CUDA, for parallelization, are used.

No description available.

La recherche menée durant cette thèse a comme objectif de développer un système de positionnement latéral d’un véhicule sur sa voie de circulation afin d’alerter le conducteur en cas de sortie involontaire de sa voie ou de fournir à un système de conduite autonome la position latérale du véhicule. Le système développé est basé sur une interaction de type hyperfréquence entre un module d’émission-réception embarqué dans le véhicule et des transpondeurs passifs intégrés dans la chaussée entre chaque voies de circulation. Ce système fonctionne dans la bande UHF. Les transpondeurs passifs contiennent chacun une antenne connectée à deux résonateurs à onde acoustique de surface ayant des coefficients de qualité élevés à leur fréquence de résonance. Chaque transpondeur reçoit l’onde émise par le module hyperfréquence puis la réémet en lui ajoutant une signature spécifique venant des résonateurs. Le module hyperfréquence embarqué dans le véhicule contient des antennes d’émission et de réception ainsi qu’une chaine de transmission et d’acquisition. Il fonctionne autour des deux fréquences centrales des résonateurs. Un algorithme de traitement du signal reçu permet de déterminer la distance latérale entre le véhicule et les transpondeurs en utilisant les déphasages d’arrivé du signal du transpondeur après l’avoir extrait du signal global reçu. Le système a été expérimenté en milieu extérieur et il présente une erreur d’estimation de la distance latérale d’environ 4cm. / The research carried out during this thesis aims to develop a lateral positioning system of a vehicle on its lane in order to alert the driver in case of an unintentional lane departure or to provide the lateral position of the vehicle for an autonomous driving system. The system developed is based on a hyperfrequency interaction between a transceiver module embedded in the vehicle and passive transponders integrated in the road. This system operates in the UHF band. Each passive transponder contains an antenna connected to two surface acoustic wave resonators that have a high quality coefficient at their resonant frequency. Each transponder receives the waves emitted by the hyperfrequency module and then retransmits it by adding a specific signature due to the resonators. The hyperfrequency module embedded in the vehicle contains transmitting and receiving antennas as well as a transmission and acquisition chain. It operates around the two center frequencies of the resonators. A received signal processing algorithm was devemoped to determine the lateral distance between the vehicle and the transponders by using the phase of the transponder signal after having extracted it from the received global signal. The system has been tested in an external environment and has an estimated lateral distance error of 4 cm.

Indiana University-Purdue University Indianapolis (IUPUI) / In automotive industry, driver assistance and active safety features are main areas of research. This thesis concentrates on designing one of the famous ADAS system feature called Adaptive cruise control. Feature development and analysis of various functionalities involved in the system control are done using Petri Nets. A background on the past and current ACC research is noted and taken as motivation. The idea is to implement the adaptive cruise control system in Petri net and analyze how to provide fault tolerance to the system. The system can be evaluated for various cases. The ACC technology implemented in di erent cars were compared and discussed. The interaction of the ACC module with other modules in the car is explained. The cruise system's algorithm in Petri net is used as the basis for developing Adaptive Cruise Control system's algorithm. The ACC system model is designed using Petri nets and various Petri net functionalities like place invariant, transition invariant and reachability tree of the model are analyzed. The results are veri ed using Matlab. Controllers are introduced for ideal cases and are implemented in Petri nets. Then the error cases are considered and fault tolerance techniques are carried out on the model to identify the fault places.

No description available.

The frightful statistics regarding road accidents draws a dreadful picture for individuals, communities, and nations across the globe. The number of fatalities exceeds a million every year. To address this issue, an initiative called Vision Zero was introduced first in Sweden 1997. The goal is to reach zero road fatalities and severe injuries by 2045. However, to achieve this goal, Vision Zero is being divided in 4 categories, called Days. Day 4 represents fully automated, cooperative, and connected mobility (CCAM). Now, one of the typical cases that causes road accidents is overtaking. CCAM is a way to enhance safety in such cases. Therefore, this thesis proposes a system that is based on Vehicle-to-Vehicle (V2V) communication where vehicles exchange their intentions and cooperatively perform overtaking manoeuvres. The prevalent approach nowadays is depending on the vehicles’ onboard sensors only, blocking it from having knowledge about the intentions of other actors. Thus, it prevents vehicles from cooperation and coordination. We evaluate the performance of our approach and compare it against the sensors only approach. We show that the proposed approach outperforms the prevalent one in performance. Therefore, vehicle communication must be considered in the upcoming mobility for higher accuracy and safety. / Den skrämmande statistiken angående trafikolyckor tecknar en fruktansvärd bild för individer, samhällen och nationer över världen. Antalet dödsfall överstiger en miljon varje år. Ett initiativ som kallas Vision Zero introducerades i Sverige 1997, vars syfte är att ta itu med detta problem. Målet är att nå noll trafik dödsfall, och allvarliga skador år 2045. För att verkställa det målet, Vision Zero delades in i 4 kategorier, som kallas för Dagar. Dag 4 representerar fullt automatiserad, kooperativ och kommunikativ mobilitet (CCAM). Ett av det vanligaste fallen som orsaker trafikolyckor är omkörningar. CCAM är ett sätt att förbättra säkerheten i sådana fall. Därför presenterar denna avhandling ett system som bygger på fordon-till-fordon (Vehicle-to-Vehicle V2V) kommunikation. Detta system tillåter fordon att utbyta avsikter för att samarbeta och utföra säkra omkörningar. Den ledande teknologin nuförtiden beror enbart av fordonens sensorer, vilket hindrar dem från att ha kunskap om andra aktörers avsikter. Därmed hindrar det dem från att samarbeta. Vi utvärderar prestandan av vårt system och jämför det med den ledande teknologin. Vi visar att vårt system är överlägsen det ledande sättet (dvs. enbart sensorer) i prestanda. Därför måste fordon kommunikation tas hänsyn till i kommande mobilitet för högre noggrannhet och säkerhet.