After describing the development of the ISDV, this thesis studies the energy management which can improve the energy efficiency. It is shown that the traditional electric vehicle (EV) is not capable of managing the energy required for one driving cycle because it has only a single traction motor. This thesis proposes and examines a new way to manage electrical energy in which torque is distributed among different in-wheel motors to achieve a higher level of overall energy efficiency, which has been enhanced and demonstrated in various driving cycles. / Thereafter, the thesis studies two aspects of benefits the ISDV can bring to parking. One is in space efficiency, defined as the ratio of the total space occupied by the vehicle in its final parked state over the whole area covered by the parking lot. Comparison of the ISDV and traditional vehicles in parking proves that the ISDV afford a higher level of space efficiency. The other aspect is the parking time. It is tested experimentally in the hardware-in-loop (HIL) system, and the motions of traditional vehicles, the zero radius turning motion, and the free motion of the ISDV are compared. The less time for parking demonstrates the easiness to steer the ISDV. / Throughout the history of human civilization, vehicles have played a significant role by connecting people in various locations. They have thus boosted the progress of civilization and made our lives more convenient. However, as the number of vehicles on the road has increased, the convenience, which vehicles provide, has gradually turned into inconvenience in three respects: 1) the energy consumed by vehicles accounts for a large proportion of total energy consumption, which is in an ever-increasing trend; 2) more parking space is needed, a significant proportion of which is not for parking itself but for enabling the vehicle to be navigated to its final parking slot; 3) the effort required to park a car is also troublesome, causing the driver to spend much more time in a crowded parking lot. / To alleviate these three problems, I develop a methodology to design an independent steering and driving vehicle (ISDV). It brings together the robotic technologies of steer-by-wire, drive-by-wire, four-wheel-independent-steering, and four-wheel-independent-driving. All four wheels of the ISDV can be steered independently, so that vehicle rotation and translation can be decoupled from each other. Omni-directional motions such as zero radius turning (ZRT) and lateral parking (LP) are realized, thereby enhancing the agility of the vehicle. In contrast with omni-directional wheeled mobile robots, this vehicle is targeted at serving as a human carrier or even as a vehicle carrier in the future. / Qian, Huihuan. / Adviser: Yangsheng Xu. / Source: Dissertation Abstracts International, Volume: 73-03, Section: B, page: . / Thesis (Ph.D.)--Chinese University of Hong Kong, 2010. / Includes bibliographical references (leaves 149-159). / Electronic reproduction. Hong Kong : Chinese University of Hong Kong, [2012] System requirements: Adobe Acrobat Reader. Available via World Wide Web. / Electronic reproduction. [Ann Arbor, MI] : ProQuest Information and Learning, [201-] System requirements: Adobe Acrobat Reader. Available via World Wide Web. / Abstract also in Chinese.

Este trabalho apresenta o projeto de um conversor digital-analógico (DAC) para ser usado em um transmissor RF no padrão Bluetooth. Um DAC é usado em um transmissor RF por que os sinais processados digitalmente devem ser transmitidos analogicamente para outras estações de rádio. Nesta aplicação especificações do conversor como: frequência de amostragem, resolução, Faixa dinâmica livre de espúrios (SFDR), Relação sinal-ruído (SNR) e não-linearidade integral e diferencial (INL e DNL), são determinadas pelo padrão de modulação do transmissor RF que neste trabalho ´e Bluetooth. Além de baixo consumo de potência e de área, condições necessárias para implementar um sistema portável. A arquitetura current-steering segmentada é adequada para este tipo de aplicação. Esta arquitetura se baseia em um conjunto de fontes de corrente, as quais são comutadas para gerar uma tensão de saída. O projeto das fontes de corrente num DAC current steering determina o comportamento dinâmico e estático. No entanto, na literatura muitos trabalhos não têm uma boa estratégia de projeto. Como uma solução, este trabalho apresenta um estudo das variáveis e uma estratégia para o projeto de um DAC nesta arquitetura. A estratégia de projeto proposta para as fontes de corrente, consiste em um processo iterativo onde as variáveis são ajustadas de maneira simples, cumprindo os requerimentos, minimizando o consumo de potência e atingindo as especificações. Além disso, neste trabalho é incluída uma análise teórica dos requerimentos estáticos e dinâmicos, além de uma nova estratégia para a implementação do layout com a qual se obtém um baixo consumo de área. O DAC foi projeto e implementado em tecnologia CMOS de 0,35?m 4M2P. Alguns resultados obtidos no teste experimental são: área ativa do layout de 200?m×200?m, Corrente de escala completa de 700?A (uma tensão de alimentação de 3,3V), INL=0,3LSB, DNL=0,37LSB, SFDR=58dB para um sinal senoidal de saída de 1MHz e 50MHz de frequência de amostragem, SFDR=52dB para um sinal senoidal de saída de 1MHz e 10MHz de frequência de amostragem. / This work presents a digital-to-analog converter (DAC) design used in a RF transmitter stage for Bluetooth applications. A DAC is used in a RF transmitter because digitally processed signals must be transmitted as an analog wave to other radio stations. The DAC design must fulfill specifications of: sampling frequency, resolution, Spurious-Free Dynamic Range (SFDR), Signal-to-Noise Ratio (SNR) and Differential and Integral Nonlinearities (DNL, INL). These specifications are determined by the modulation standard of the RF transmission stage which in our work is Bluetooth. Also, low power and reduced area are required conditions to implement portable systems. Current-steering segmented architecture is suitable for this application [1]. It is based on an array of matched current sources that are switched to generate the output voltage. The Current sources design in a current steering DAC determines the converter\'s static and dynamic behavior. However, in the literature many works did not present a good design estrategy. As a solution, this work presents a study of the variables tradeoffs and a simple design strategy for current-steering segmented DAC design. The current source design strategy is based on an iterative scheme which variables are adjusted by a simple way, satisfying the requirements, minimizing.

Este trabalho apresenta o projeto de um conversor digital-analógico (DAC) para ser usado em um transmissor RF no padrão Bluetooth. Um DAC é usado em um transmissor RF por que os sinais processados digitalmente devem ser transmitidos analogicamente para outras estações de rádio. Nesta aplicação especificações do conversor como: frequência de amostragem, resolução, Faixa dinâmica livre de espúrios (SFDR), Relação sinal-ruído (SNR) e não-linearidade integral e diferencial (INL e DNL), são determinadas pelo padrão de modulação do transmissor RF que neste trabalho ´e Bluetooth. Além de baixo consumo de potência e de área, condições necessárias para implementar um sistema portável. A arquitetura current-steering segmentada é adequada para este tipo de aplicação. Esta arquitetura se baseia em um conjunto de fontes de corrente, as quais são comutadas para gerar uma tensão de saída. O projeto das fontes de corrente num DAC current steering determina o comportamento dinâmico e estático. No entanto, na literatura muitos trabalhos não têm uma boa estratégia de projeto. Como uma solução, este trabalho apresenta um estudo das variáveis e uma estratégia para o projeto de um DAC nesta arquitetura. A estratégia de projeto proposta para as fontes de corrente, consiste em um processo iterativo onde as variáveis são ajustadas de maneira simples, cumprindo os requerimentos, minimizando o consumo de potência e atingindo as especificações. Além disso, neste trabalho é incluída uma análise teórica dos requerimentos estáticos e dinâmicos, além de uma nova estratégia para a implementação do layout com a qual se obtém um baixo consumo de área. O DAC foi projeto e implementado em tecnologia CMOS de 0,35?m 4M2P. Alguns resultados obtidos no teste experimental são: área ativa do layout de 200?m×200?m, Corrente de escala completa de 700?A (uma tensão de alimentação de 3,3V), INL=0,3LSB, DNL=0,37LSB, SFDR=58dB para um sinal senoidal de saída de 1MHz e 50MHz de frequência de amostragem, SFDR=52dB para um sinal senoidal de saída de 1MHz e 10MHz de frequência de amostragem. / This work presents a digital-to-analog converter (DAC) design used in a RF transmitter stage for Bluetooth applications. A DAC is used in a RF transmitter because digitally processed signals must be transmitted as an analog wave to other radio stations. The DAC design must fulfill specifications of: sampling frequency, resolution, Spurious-Free Dynamic Range (SFDR), Signal-to-Noise Ratio (SNR) and Differential and Integral Nonlinearities (DNL, INL). These specifications are determined by the modulation standard of the RF transmission stage which in our work is Bluetooth. Also, low power and reduced area are required conditions to implement portable systems. Current-steering segmented architecture is suitable for this application [1]. It is based on an array of matched current sources that are switched to generate the output voltage. The Current sources design in a current steering DAC determines the converter\'s static and dynamic behavior. However, in the literature many works did not present a good design estrategy. As a solution, this work presents a study of the variables tradeoffs and a simple design strategy for current-steering segmented DAC design. The current source design strategy is based on an iterative scheme which variables are adjusted by a simple way, satisfying the requirements, minimizing.

Traditional antennas have a lot of limitations as their performance is usually fixed by their initial geometry. On the other hand, modern communication systems are getting way to complicated compared to their earlier counterparts. This necessitates some special types of smart or reconfigurable antennas, which can dynamically adapt to the requirements of the communication systems more effectively. Using conventional single functional antennas is therefore not an efficient approach in these sort of communication systems. Considering all these factors, in this thesis, a beam steerable reconfigurable antenna system is presented that can yield the radiation patterns of multiple antennas with a single structure, necessary for 5G communication. This antenna system occupies comparatively much smaller space and can provide highly directive gain at different directions. It is expected that- in near future, further improvements of this type of antenna system can be performed to pave the way for some additional necessary functions required in modern communication systems.

Driver distraction contributes to approximately 43% of motor-vehicle crashes and 27% of near-crashes. Rapidly developing in-vehicle technology and electronic devices place additional demands on drivers, which might lead to distraction and diminished capacity to perform driving tasks. This situation threatens safe driving. Technology that can detect and mitigate distraction by alerting drivers could play a central role in maintaining safety. Correctly identifying driver distraction in real time is a critical challenge in developing distraction mitigation systems, and this function has not been well developed. Moreover, the greatest benefit may be from real-time distraction detection in advance of dangerous breakdowns in driver performance. Based on driver performance, two types of distraction - visual and cognitive - are identified. These types of distraction have very different effects on visual behavior and driving performance; therefore, they require different algorithms for detection. Distraction detection algorithms typically rely on either eye measures or driver performance measures because the effect of distraction on the coordination of measures has not been established. Combining both eye glance and vehicle data could enhance the ability of algorithms to detect and differentiate visual and cognitive distraction. The goal of this research is to examine whether poor coordination between visual behavior and vehicle control can identify diminished attention to driving in advance of breakdowns in lane keeping. The primary hypothesis of this dissertation is that detection of changes in eye-steering relationship caused by distraction could provide a prospective indication of vehicle state changes. Three specific aims are pursued to test this hypothesis. The first aim examines the effect of distracting activity on eye and steering movements to assess the degree to which the correlation parameters are indicative of distraction. The second aim applies a control-theoretic system identification approach to the eye movement and steering data to distinguish between distracted and non-distracted conditions. The third aim examines whether changes of eye-steering coordination associated with distraction provide a prospective indication of breakdowns in driver performance, i.e., lane departures. Together, the three aims show how that a combination of visual and steering behavior, i.e., eye-steering model, can differentiate between non-distracted and distracted state. This model revealed sensitivity to distraction associated with off-road glances. The models derived for different drivers have similar structure and fit to data from other drivers reasonably well. In addition, the differences in model order and model coefficients indicate the variability in driving behavior: some people generate more complex behavior than others. As was expected, eye-steering correlation on straight roads is not as strong as observed on curvy roads. However, eye-steering correlation measured through correlation coefficient and time delay between two movements is sensitive to different types of distraction. Time delay mediates changes in lane position and the eye-steering system predicts breakdowns in lane keeping. This dissertation contributes to developing a distraction detection system that integrates visual and steering behavior. More broadly, these results suggest that integrating eye and steering data can be helpful in detecting and mitigating impairments beyond distraction, such as those associated with alcohol, fatigue, and aging.

<p>The engine torque is an important control signal. This signal is disturbed by the devices mounted on the belt. To better be able to estimate the torque signal, this work aims to model the auxiliary devices'influence on the crankshaft torque. Physical models have been developed for the air conditioning compressor, the alternator and the power steering pump. If these models are to be used in control unit function development and testing, they have to be fast enough to run on a hardware-in-the-loop simulator in real time. The models have been simplified to meet these demands. </p><p>The compressor model has a good physical basis, but the validity of the control mechanism is uncertain. The alternator model has been tested against a real electronic control unit in a hardware-in-the-loop simulator, and tests show good results. Validation against measurements is however necessary to confirm the results. The power steering pump model also has a good physical basis, but it is argued that a simple model relating the macro input-output power could be more valuable for control unit function development.</p>

<p>This master thesis deals with experimental data that were collected through a crash avoidance experiment (which was lead by Professor Lennart Strandberg) in February and March 1990. Fifty-two ordinary drivers were instructed to perform two different kinds of manoeuvres on ice to determine the effectiveness of antilock brakes and of four tyre configurations. Results were reported at the 1991 ESV Conference.</p><p>The first aim of this master thesis is to check and revise the measured data (used by Prof. Strandberg in courses at Linköping University). Checking out many hours of video recordings from onboard cameras reveals various protocol inconsistencies and errors, which in some cases it is not possible to correct. This work might increase the reliability of any further analysis of these data.</p><p>The second aim is to elaborate on the revised data and to test the hypothesis that quick steering is a key factor to not lose control of the car during a crash avoidance manoeuvre. Different variables are introduced and used to estimate the steering wheel velocity and lateral friction use.</p><p>The results show linear (positive) correlations between lateral friction use and steering wheel velocity. The greatest steering wheel velocities appear in the tests with loss-of-control and reach values up to 1180 degrees per second. However, the 1990 experimental layout was not intended for this type of research questions and it seems difficult to determine the causal relationship between quick steering and control of the car. Some cases of excessive steering input might have occurred. The results indicate that quick steering by itself is not enough to guarantee the total control of the car. An early reaction to the skid might be necessary too. Evidently, further research is needed.</p>

<p>By using existing knowledge from the game community, which have had a long experience from game artificial intelligence, and new research</p><p>from the field of artificial intelligence I have implemented REACT, a crowd simulation system for visual effects. REACT is based on high-level behaviour that uses an underlying layer of low-level behaviour. The high-level capabilities gives the digital character means to reasoning about how to achieve certain goals based on a knowledge base of rules and facts that are present in the virtual world. This gives the digital character a degree of autonomous intelligent behaviour.</p><p>REACT is designed to integrate directly into the 3D animation package Maya as a plug-in. This means that the animators can continue to animate their characters via their animation package of choice, rather than having to learn a new technology. In addition, many animators are already familiar with the workflow of Maya, so learning curves are reduced.</p><p>REACT is already in use in the visual effects industry where it has proven itself to be a worthy competitor to the existing systems on the market.</p>

<p>As more and more people conduct vigilance-based activities at times other than the traditional daytime work hours, the time utilization will continue to escalate in the next century and will further increase the risks of sleepiness-related accidents.</p><p>This project, which is commissioned by Scania CV AB, is to nvestigate the potential of a method for sleepiness detection belonging to esium AB. Our objective is to examine whether Scania CV AB should continue with the investigation of the patent method, and in that case, which patent parameters, that indicate sleepiness, should be more closely inquired. The purpose with the method of patent is to discover a sleepy driving behaviour. This method is based on the interaction that appears between the driver and the vehicle. The interaction consists of small spontaneous corrections with the steering wheel that in this report is called micro communication. How well the interaction is functioning can be measured in degree of interaction, which shows how well the driver and the truck interact with each other. The interaction between the driver and the vehicle is in this report looked upon as answers and questions with a certain reaction time, which appears with a certain answered question frequency. The differences in the signal’s amplitudes are measured in variation in amplitudes.</p><p>Experiments to collect relevant signals have to be conducted in order to investigate the potential with the method of the patent. It is eligible to collect data from a person falling asleep, which implies experiments conducted in a simulator. The experiments are executed in</p><p>a simulator, one test when they are alert and one when they are sleep deprived. Tests are also executed in a Scania truck. The purpose with these experiments is to collect data of the subject’s normal driving pattern in a truck and to investigate if it is possible to obtain</p><p>acceptable data in a truck.</p><p>The sleepiness experiments have indicated that the micro communication takes place in a frequency range of 0.25 to 6.0 Hz. The variables that have been found to detect sleepiness with high reliability are the reaction time and the degree of interaction presented in spectra.</p><p>The validation experiments have shown it is possible to collect exact and accurate data from the lateral acceleration and the steering wheel torque. But, there is more noise in the signals from truck then there is in the signals from the simulator.</p><p>This method for sleepiness detection has, according to the authors, a great potential. However, more experiments have to be conducted. The authors suggest further sleepiness experiments only conducted during night time. The subjects are sufficiently alert in the beginning of the test to receive data from normal driving behaviour. Physiological measurement could be interesting to have by the side of the subjective assessments as an additional base for comparison.</p>

<p>Detta är en kvalitativ uppsats med syfte att ge en inblick i hur ett antal läroböcker och lärare valt att belysa Sveriges nationella minoritetsspråk i Svenska B på gymnasiet. Jag har analyserat fem läroböcker böcker i svenska, samtliga utgivna efter år 2000. Analysen visade att alla analyserade böcker utom en har gett minoritetsspråken mycket lite utrymme. Informationen i majoriteten av böckerna fokuserar på vilka minoritetsspråken är och vilka rättigheter de sedan 2000 erhållit. I tre av de analyserade böckerna nämns den historiska aspekten men informationen är ofta tagen ur sin kontext. Till studien intervjuades också tre verksamma gymnasielärare i svenska med avsikten att ta reda hur de tolkar minoritetsspråkens roll i Svenska B. Resultatet visade att samtliga informanter gav minoritetsspråken mycket lite och ibland inget utrymme i Svenska B. Sammanfattningsvis kan sägas att minoritetsspråken varken i den analyserade litteraturen eller av de intervjuade lärarna gavs vidare stort utrymme.</p> / <p>This is a qualitative essay in order to study how a number of textbooks and teachers illuminate Sweden’s national minority languages in the B-course in Swedish, in the upper secondary school. Five Swedish textbooks, published after year 2000 has been analysed which showed that all books except one gave the minority languages little room and that the information in the majority of textbooks was focused on which languages that are the minority languages and the rights they have received. In three books of five, the historical aspect is mentioned but it is often taken out of its context. For the study I also interviewed three active Swedish teachers with the intention to find out there view on the minority languages role in the Swedish b-course. The result showed that all teachers gave the minority languages very little or sometimes no space at all.</p>