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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.

Simulation in automated guided vehicle system design

Ujvári, Sándor January 2003 (has links)
No description available.

New Structured Data Collection Approach for Real-Time Trust Measurement In Human-Autonomous Vehicle Interactions

Unknown Date (has links)
Most of recent studies indicate that people are negatively predisposed toward utilizing autonomous systems. These findings highlight the necessity of conducting research to better understand the evolution of trust between humans and growing autonomous technologies such as self-driving cars (SDC). This research therefore presents a new approach for real-time trust measurement between passengers and SDCs. We utilized a new structured data collection approach along with a virtual reality (VR) SDC simulator to understand how various autonomous driving scenarios can increase or decrease human trust and how trust can be re-built in the case of incidental failures. To verify our methodology, we designed and conducted an empirical experiment on 50 human subjects. The results of this experiment indicated that most subjects could rebuild trust during a reasonable timeframe after the system demonstrated faulty behavior. Furthermore, we discovered that the cultural background and past trust-related experiences of the subjects affect how they lose or regain their trust in SDCs. Our analysis showed that this model is highly effective for collecting real-time data from human subjects and lays the foundation for more-involved future research in the domain of human trust and autonomous driving. / Includes bibliography. / Thesis (M.S.)--Florida Atlantic University, 2018. / FAU Electronic Theses and Dissertations Collection

Communicating Intent in Autonomous Vehicles

January 2019 (has links)
abstract: The prospects of commercially available autonomous vehicles are surely tantalizing, however the implementation of these vehicles and their strain on the social dynamics between motorists and pedestrians remains unknown. Questions concerning how autonomous vehicles will communicate safety and intent to pedestrians remain largely unanswered. This study examines the efficacy of various proposed technologies for bridging the communication gap between self-driving cars and pedestrians. Displays utilizing words like “safe” and “danger” seem to be effective in communicating with pedestrians and other road users. Future research should attempt to study different external notification interfaces in real-life settings to more accurately gauge pedestrian responses. / Dissertation/Thesis / Masters Thesis Engineering 2019

Autonomous guided vehicle for agricultural application

Chikosi, Gerald January 2014 (has links)
With the world's population expected to reach nine billion by 2050, agricultural production will have to double to meet this growing demand. Hence, a need for better infrastructure to enhance farming efficiency becomes apparent. There are a number of solutions that have been developed to date that are commercially available. They range from genetically modified seeds and bio/green fertilizers to advanced farming machinery amongst others. However most of the farming equipment developed has drawbacks such as: heavy weight – this leads to reduced yields due to soil compacting; human dependency – constant monitoring and controlling is needed; light dependency – excludes usage during the night or when visibility is poor. Therefore, a possible solution will be researched to enhance the evolution of farming equipment. Furthermore, a model will be developed for testing and verifying the research.


Unknown Date (has links)
The goal of this thesis is to simulate, design and build an automated device that allows unmanned vessels to anchor themselves in specified locations while being United States Coast Guard Navigation Rules compliant. This is a part of a larger project funded by the U.S. Department of Energy for Florida Atlantic University to build an unmanned platform with an Undershot Water Wheel on it. By simulating the environment of the South Florida Intercoastal Water Ways, forces acting on the line, anchor and the vessel are analyzed. These forces are used as the guide for the design and build of a line locking mechanism that takes the tension off the winch and a sensor package to monitor the environment the platform is in as well as control of the system. Based off experimental testing, the system was successful in handling all emulated environments with loads exceeding 150lbs of tension. / Includes bibliography. / Thesis (M.S.)--Florida Atlantic University, 2021. / FAU Electronic Theses and Dissertations Collection

Experimental Evaluation of Viscous Hydrodynamic Force Models for Autonomous Underwater Vehicles

McCarter, Brian Raymond 04 September 2014 (has links)
A comparison of viscous hydrodynamic force models is presented, with application on an autonomous underwater vehicle (AUV). The models considered here are \emph{quasi-steady}, meaning that force is expressed as a function of instantaneous vehicle state. This is in contrast to physical reality, where the force applied to a rigid body moving through a viscous fluid is history-dependent. As a result, the comparison of models is restricted to how well they are able to recreate a force history, rather than how closely they represent the underlying physics. Of the models under consideration, no single model performs significantly better than the others, but several perform worse. Each viscous hydrodynamic force model presented here is expressed as a linear combination of basis functions, which are nonlinear functions of body-relative velocity. The greater dynamical model is presented in a rigid-body framework with six degrees of freedom, with terms which account for inviscid fluid flow, restoring forces due to gravity, and control forces due to actuator motion. The models are selected from several that have been proposed in the literature, which include empirically-derived and physics-based models. Some models assume that the relationship between force and velocity is fundamentally linear or quadratic in nature, or make assumptions about coupled motion. The models are compared by their relative complexities, and also by their ability to reproduce data sets generated from field experiments. The complete dynamical equations are presented for each model, including coefficients suitable for use with the Virginia Tech 690 AUV. / Master of Science

Development of a Novel Zero-Turn-Radius Autonomous Vehicle

Haynie, Charles Dean 10 August 1998 (has links)
This thesis describes the development of a new zero-turn-radius (ZTR) differentially driven robotic vehicle hereinafter referred to as NEVEL. The primary objective of this work was to develop a device that could be used as a test-bed for continued autonomous vehicle research at Virginia Tech while meeting the entry requirements of the Annual International Unmanned Ground Robotics Competition. In developing NEVEL, consideration was given to the vehicle's mechanical and electrical design, sensing and computing systems, and navigation strategy. Each of these areas was addressed individually, but always within the context of optimal integration to produce the best overall vehicle system. A constraint that directed much of the design process was the desire to integrate industrially available and proven components rather than creating custom designed systems. This thesis also includes a review of the relevant literature as it pertains to both subsystem and overall vehicle design. NEVEL, the vehicle that was created from this research effort, is novel in several respects. It is one of the few true embodiments of a fully functioning, three-wheel, differential drive autonomous vehicle. Several previous studies have developed this concept for indoor applications, but none has resulted in a working test-bed that can be applied to an unstructured, outdoor environment. NEVEL also appears to be one of the few autonomous vehicle systems to fully incorporate a commercially available laser range finder. These features alone would make NEVEL a useful platform for continued research. In addition, however, by using common, off-the-shelf components and a personal computer platform for all computation and control, NEVEL has been created to facilitate testing of new navigation and control strategies. As testimony to the success of this design, NEVEL was recognized at the Sixth Annual International Unmanned Ground Robotics Competition as the best overall design. / Master of Science

Acoustic Simultaneous Localization And Mapping (SLAM)

Akul Madan (11798099) 20 December 2021 (has links)
<div>The current technologies employed for autonomous driving provide tremendous performance and results, but the technology itself is far from mature and relatively expensive. Some of the most commonly used components for autonomous driving include LiDAR, cameras, radar, and ultrasonic sensors. Sensors like such are usually high-priced and often require a tremendous amount of computational power in order to process the gathered data. Many car manufacturers consider cameras to be a low-cost alternative to some other costly sensors, but camera based sensors alone are prone to fatal perception errors. In many cases, adverse weather and night-time conditions hinder the performance of some vision based sensors. In order for a sensor to be a reliable source of data, the difference between actual data values and measured or perceived values should be as low as possible. Lowering the number of sensors used provides more economic freedom to invest in the reliability of the components used. This thesis provides an alternative approach to the current autonomous driving methodologies by utilizing acoustic signatures of moving objects. This approach makes use of a microphone array to collect and process acoustic signatures captured for simultaneous localization and mapping (SLAM). Rather than using numerous sensors to gather information about the surroundings that are beyond the reach of the user, this method investigates the benefits of considering the sound waves of different objects around the host vehicle for SLAM. The components used in this model are cost-efficient and generate data that is easy to process without requiring high processing power. The results prove that there are benefits in pursuing this approach in terms of cost efficiency and low computational power. The functionality of the model is demonstrated using MATLAB for data collection and testing.</div>

Integrating autonomous vehicle behavior into planning models

Levin, Michael William 16 September 2015 (has links)
Autonomous vehicles (AVs) may soon be publicly available and are expected to increase both network capacity and travel demand. Reduced safety margins from computer precision may increase network capacity and allow for more efficient intersection controls. AVs also offer the option of repositioning trips to avoid parking fees or share the vehicle between household members, which may increase the total number of vehicle trips and decrease the relative utility of transit. Since AVs may be available within one or two decades, which is within the span of long-term planning models, practitioners may soon wish to predict the effects of AVs on traffic networks. This thesis modifies the four-step planning model commonly used by practitioners to include AV behaviors and capacity improvements. Because dynamic traffic assignment (DTA) offers more realistic flow propagation and intersection control options, the four-step model is modified to incorporate DTA with endogenous departure time choices. To facilitate modeling of AV intersections, the tile-based reservation (TBR) control policy is simplified into a conflict region (CR) model compatible with general simulation-based DTA and with greatly improved computational tractability. Results suggest that although the total number of personal-vehicle trips may almost double (due to repositioning trips to the origin to avoid parking costs), increases in network and intersection capacity can mostly offset or even improve network conditions. Use of dynamic flow propagation instead of static travel time functions in the four-step model results in predictions of increased average travel speed although both static and dynamic planning models predict a high reliance on repositioning trips (i.e., empty-vehicle travel). To study AV behaviors in DTA, this thesis first integrates DTA into the four-step model with the addition of departure time choice. This model alone may be useful for practitioners as departure time modeling is a major concern with DTA planning models. Also, the TBR intersection policy has only been studied in micro-simulation with heuristic routing strategies. The CR model opens this new technique to study under UE behavior, which is the first step for the bridge between technology demonstration simulations to models practitioners can use to evaluate implementation. . Therefore, the models developed here for the purposes of predicting AV trip and mode choices may themselves become useful tools for other applications. / text

A Cognitive Advanced Driver Assistance Systems (ADAS) Architecture for Autonomous-capable Electrified Vehicles

Divakarla, Kavya Prabha January 2019 (has links)
The automotive industry is seen to be making a monumental paradigm shift from manual to semi-autonomous to fully Autonomous Vehicles. An Advanced Driver Assistance System (ADAS) forms a major building block for realizing these next generation of highly Autonomous-capable Vehicles. Although the general ADAS architecture is widely discussed, limited details are available about the functionality of the modules and their interactions, backed up by scientific justification. This limits the utilization of such an architecture for pragmatic implementation. A Cognitive ADAS Architecture for level 4 Autonomous-capable Electrified Vehicles (EV) is proposed in this thesis. Variations for levels 3 and 3.5 (combination of levels 3 and 4, with the primary fallback through a human driver and the secondary through an Automated Driving System) are also presented. A validated simulation framework is built for highway driving based on the proposed level 4 architecture for an enhanced Tesla Model S. It was concluded that the autonomous control provided a 28% energy economy increase, on average, compared to human driver control. Through a quantitative sensitivity analysis, the optimal Mission/Motion Planning and energy management are seen in addition to a positive impact on the EV battery, motor, and dynamics, realized from the minimized instantaneous fluctuations. These factors are considered to contribute to this significant increase in the energy economy of an autonomous-controlled EV. Furthermore, this impact was seen to be relatively higher for autonomous longitudinal vehicle control compared to lateral. This difference in the improved operation of the Autonomous-capable EV components between the Automated Driving System and the human driver control was seen to be the highest for the battery current. In overall, an increase in vehicle autonomy, resulted in an improvement in the EV performance, dynamics and operation of the battery and motor, compared to a human driver control. / Thesis / Doctor of Philosophy (PhD)

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