Problem of traffic routing in autonomous system is under consideration. The solution of this problem would stabilize the operation of the network in case of accidents and high loads. A method for generating analogy of routing table based on the modification of the actual table. Two test sites were constructed for testing and finding a method of stabilization of an autonomous system routing information. The result of the introduction of an autonomous system route reflectors showed that route reflectors increases the stability of the system routing within an autonomous system and reduces the lack of communication between the nodes. / В работе актуализируется проблема маршрутизации трафика внутри автономной системы. Решение этой задачи позволит стабилизировать работу сети при авариях и высоких нагрузках. Разработан метод генерирования аналога таблицы маршрутизации на основе модификации реальной таблицы. Построены две тестовые площадки для тестирования и поиска метода стабилизации маршрутной информации автономной системы. Результат внедрения в автономную систему отражателей маршрутов показал, что они увеличивают стабильность системы маршрутизации трафика и уменьшают время отсутствия связи между узлами

<p dir="ltr">A fluid extraction device designed to extract bands of fluid from an ultracentrifuged vial was developed. To do this, a computer vision system was developed to scan the vial and detect the bands and calculate their positions. The computer vision was performed using a TSL1401 DB linescan camera. The vial was scanned by moving the vial vertically in front of the camera using a stepper motor driven linear stage. Pixel data from the line scan camera was analysed to find the edges of each band. This was done by analyzing the first and second derivatives of smoothed pixel data. When the second derivative was 0 and the first derivative was greater than a threshold value, a band edge was detected. Needles were connected to linear actuators and were used to puncture the vials at the desired band's position. After puncturing the vial, fluid was extracted from the vials using a peristaltic pump and placed in a reservoir. Several control architectures were tested an used to control the system. The final control architecture used a LattePanda miniPC to control the system. Several iterations of the fluid extraction device were also created, with the final iteration meeting all the requirements for the device.</p>

This thesis presents a novel approach to several problems in intelligent transportation systems using collaborative driving coordination. With inter-vehicle communication and intelligent vehicle cooperation, important tasks in transportation such as lane position determination, lane assignment and platoon formation can be solved. Several topics in regard to inter-vehicle communication, lane positioning, lane assignment and platoon formation are explored in this thesis: First, the design and experimental results of low-cost lane-level positioning system that can support a large number of transportation applications are discussed. Using a Markov-based approach based on sharing information among a group of vehicles that are traveling within the communication range of each other, the lane positions of vehicles can be determined. The robustness effectiveness of the system is shown in both simulations and real road tests. Second, a decentralized approach to lane scheduling for vehicles with an aim to increase traffic throughput while ensuring the vehicles exit successfully at their destinations is presented. Most of current traffic management systems do not consider lane organization of vehicles and only regulate traffic flows by controlling traffic signals or ramp meters. However, traffic throughput and efficient use of highways can be increased by coordinating driver behaviors intelligently. The lane optimization problem is formulated as a linear programming problem that can be solved using the Simplex method. Finally, a direction for cooperative vehicle platoon formation is proposed. To enhance traffic safety, increase lane capacities and reduce fuel consumption, vehicles can be organized into platoons with the objective of maximizing the travel distance that platoons stay intact. Toward this end, this work evaluates a proposed strategy which assigns vehicles to platoons by solving an optimization problem. A linear model for assigning vehicles to appropriate platoons when they enter the highway is formulated. Simulation results demonstrate that lane capacity can be increased effectively when platooning operation is used.

This thesis presents a novel approach to several problems in intelligent transportation systems using collaborative driving coordination. With inter-vehicle communication and intelligent vehicle cooperation, important tasks in transportation such as lane position determination, lane assignment and platoon formation can be solved. Several topics in regard to inter-vehicle communication, lane positioning, lane assignment and platoon formation are explored in this thesis: First, the design and experimental results of low-cost lane-level positioning system that can support a large number of transportation applications are discussed. Using a Markov-based approach based on sharing information among a group of vehicles that are traveling within the communication range of each other, the lane positions of vehicles can be determined. The robustness effectiveness of the system is shown in both simulations and real road tests. Second, a decentralized approach to lane scheduling for vehicles with an aim to increase traffic throughput while ensuring the vehicles exit successfully at their destinations is presented. Most of current traffic management systems do not consider lane organization of vehicles and only regulate traffic flows by controlling traffic signals or ramp meters. However, traffic throughput and efficient use of highways can be increased by coordinating driver behaviors intelligently. The lane optimization problem is formulated as a linear programming problem that can be solved using the Simplex method. Finally, a direction for cooperative vehicle platoon formation is proposed. To enhance traffic safety, increase lane capacities and reduce fuel consumption, vehicles can be organized into platoons with the objective of maximizing the travel distance that platoons stay intact. Toward this end, this work evaluates a proposed strategy which assigns vehicles to platoons by solving an optimization problem. A linear model for assigning vehicles to appropriate platoons when they enter the highway is formulated. Simulation results demonstrate that lane capacity can be increased effectively when platooning operation is used.

The introduction of autonomous vehicles in traffic is driven by expected gains in multiple areas, such as improvement of health and safety, better resource utilization, pollution reduction and greater convenience. The development of more competent algorithms will determine the rate and level of success for the ambitions around autonomous vehicles. In this thesis work an intersection management system for a mix of autonomous and manually driven vehicles is created. The purpose is to investigate the strategy to combine turn intention prediction for manually driven vehicles with scheduling of autonomous vehicle. The prediction method used is support vector machine (SVM) and scheduling of vehicles have been made by dividing the intersection into an occupancy grid and apply different safety levels. Real-life data comprising recordings of large volumes of traffic through an intersection has been combined with simulated vehicles to assess the relevance of the new algorithms. Measurements of collision rate and traffic flow showed that the algorithms behaved as expected. A miniature vehicle based on a prototype for an autonomous RC-car has been designed with the purpose of testing of the algorithms in a laboratory setting. / Införandet av autonoma fordon i trafiken drivs av förväntade vinster i flera områden, såsom förbättring av hälsa och säkerhet, bättre resursutnyttjande, minskning av föroreningar och ökad bekvämlighet. Utvecklingen av mer kompetenta algoritmer kommer att bestämma hastigheten och nivån på framgång för ambitionerna kring autonoma fordon. I detta examensarbete skapas ett korsningshanteringssystem för en blandning av autonoma och självkörande bilar. Syftet är att undersöka strategin att kombinera prediktion av hur manuellt styrda bilar kommer att svänga med att schemalägga autonoma bilar utifrån detta. Prediktionsmetoden som använts är support vector machine (SVM) och schemaläggning av bilar har gjorts genom att dela upp korsningen i ett occupancy grid och tillämpa olika säkerhetsmarginaler. Verklig data från inspelningar av stora volymer trafik genom en korsning har kombinerats med simulerade fordon för att bedöma relevansen av de nya algoritmerna. Mätningar av kollisioner och trafikflöde visade att algoritmerna uppträdde som förväntat. Ett miniatyrfordon baserat på en prototyp av en självkörande radiostyrd bil har tagits fram i syfte att testa algoritmerna i laboratoriemiljö.

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Neste trabalho, foram utilizadas técnicas e conceitos tipicamente encontrados em estudos de Redes Complexas, uma sub-área da Física Estatística, para caracterizar a Internet e sua evolução em uma década, de 1998 a 2007. Foi considerada como unidade básica de análise, a estrutura Sistema Autônomo. Nesta caracterização, foram utilizadas várias ferramentas computacionais desenvolvidas em linguagem C/C++, que permitiram classificar, simular e modelar propriedades dinâmicas. Dentre estas propriedades podemos destacar o coeficiente de conectividade, fundamental para os estudos topológicos, e o parâmetro menor caminho médio, ambos baseados nas propriedades da matriz adjacência. Os dados experimentais foram inicialmente obtidos nos roteadores de borda da RedeRio de Computadores - FAPERJ e posteriormente, os dados relativos ao intervalo de estudo, foram retirados da base de dados disponibilizada pela Universidade de Oregon. Foi proposto um modelo de crescimento de uma rede complexa baseado nas premissas de crescimento contínuo e conexão preferencial não linear com suporte aos mecanismos de rearranjo e novas conexões entre nós já existentes. Este modelo se mostrou bastante adequado no estudo das propriedades consideradas. Foi desenvolvido um método para cálculo do menor caminho médio que apresentou performance superior àqueles normalmente utilizados pela comunidade acadêmica. O comportamento da topologia sob o ponto de vista da distribuição de probabilidades de conexão e do ranque de conectividade, apresentaram comportamento linear constante no período estudado com coeficientes médios iguais a -2,0 e -0,93, respectivamente. O parâmetro menor caminho médio global da Internet permaneceu praticamente inalterado e igual a 4, 2 ao longo da década estudada. / Connection networks are observed in many areas of human knowledge. The characterization and topological studies of these networks may be performed through distribution of connectivity degrees, rank properties, shortest path length between nodes, adjacency matrix etc, typical concepts from Complex networks, a filed of study of Statistical Physics domain. In this thesis we characterize the Internet connections evolution from 1998 to 2007. The Internet may be seen under several levels of reach and complexity considering different basic units. A wide vision is to consider the Internet basic element as an Autonomous System - AS, which is defined as a cluster of LANs or routers submitted to the same policy of usage, connectivity and technically administrated by the same network management group. The complex network considered in this work is composed by Autonomous Systems (vertices) and the established tra connection (edges) between them obtained from the BGP routing table. Many interesting property of this networks is analyzed, e.g. degree distribution (the rank and outdegree exponents) from 1998 to 2007 and the shortest path length (L), obtained by a proposed computational method (Friburgo algorithm) among each pair of ASs represented in the adjacency matrix. Finally, we present the behavior of the power law function and the shortest path length of the Internet for each year. Simulations of the connections network were carried out by a proposed model developed from continuous growth premises, possibilities of new and rearranging connections. This model was based on the concept of potential preferable connection showing a stable exponential factor that reproduces the true shortest path parameter over the decade.

Neste trabalho, foram utilizadas técnicas e conceitos tipicamente encontrados em estudos de Redes Complexas, uma sub-área da Física Estatística, para caracterizar a Internet e sua evolução em uma década, de 1998 a 2007. Foi considerada como unidade básica de análise, a estrutura Sistema Autônomo. Nesta caracterização, foram utilizadas várias ferramentas computacionais desenvolvidas em linguagem C/C++, que permitiram classificar, simular e modelar propriedades dinâmicas. Dentre estas propriedades podemos destacar o coeficiente de conectividade, fundamental para os estudos topológicos, e o parâmetro menor caminho médio, ambos baseados nas propriedades da matriz adjacência. Os dados experimentais foram inicialmente obtidos nos roteadores de borda da RedeRio de Computadores - FAPERJ e posteriormente, os dados relativos ao intervalo de estudo, foram retirados da base de dados disponibilizada pela Universidade de Oregon. Foi proposto um modelo de crescimento de uma rede complexa baseado nas premissas de crescimento contínuo e conexão preferencial não linear com suporte aos mecanismos de rearranjo e novas conexões entre nós já existentes. Este modelo se mostrou bastante adequado no estudo das propriedades consideradas. Foi desenvolvido um método para cálculo do menor caminho médio que apresentou performance superior àqueles normalmente utilizados pela comunidade acadêmica. O comportamento da topologia sob o ponto de vista da distribuição de probabilidades de conexão e do ranque de conectividade, apresentaram comportamento linear constante no período estudado com coeficientes médios iguais a -2,0 e -0,93, respectivamente. O parâmetro menor caminho médio global da Internet permaneceu praticamente inalterado e igual a 4, 2 ao longo da década estudada. / Connection networks are observed in many areas of human knowledge. The characterization and topological studies of these networks may be performed through distribution of connectivity degrees, rank properties, shortest path length between nodes, adjacency matrix etc, typical concepts from Complex networks, a filed of study of Statistical Physics domain. In this thesis we characterize the Internet connections evolution from 1998 to 2007. The Internet may be seen under several levels of reach and complexity considering different basic units. A wide vision is to consider the Internet basic element as an Autonomous System - AS, which is defined as a cluster of LANs or routers submitted to the same policy of usage, connectivity and technically administrated by the same network management group. The complex network considered in this work is composed by Autonomous Systems (vertices) and the established tra connection (edges) between them obtained from the BGP routing table. Many interesting property of this networks is analyzed, e.g. degree distribution (the rank and outdegree exponents) from 1998 to 2007 and the shortest path length (L), obtained by a proposed computational method (Friburgo algorithm) among each pair of ASs represented in the adjacency matrix. Finally, we present the behavior of the power law function and the shortest path length of the Internet for each year. Simulations of the connections network were carried out by a proposed model developed from continuous growth premises, possibilities of new and rearranging connections. This model was based on the concept of potential preferable connection showing a stable exponential factor that reproduces the true shortest path parameter over the decade.