A haptically enabled CAN-based steering wheel controller

As the portable entertainment and mobility technologies migrate into the car, driver distraction has become recognized as a major factor in road crashes around the world. To help alert drivers to their distraction, active safety technologies such as lane departure warning systems and collision avoidance systems are being implemented. One issue with the implementation of yet another technology into the vehicle is how to cut through the competing demands of the mobile phone, navigation systems and other technologies. Haptic alerts present just such a method that may enable the system to short-circuit the normal auditory or visual communication channels. This paper presents a low cost haptic steering wheel controller that has been designed developed and tested and may be used as a communication device by a lane departure, collision avoidance, or other type of safety system.

Robust video/ultrasonic fusion-based estimation for automotive applications

In this paper, we use recently developed robust estimation ideas to improve object tracking by a stationary or nonstationary camera. Large uncertainties are always present in vision-based systems, particularly, in relation to the estimation of the initial state as well as the measurement of object motion. The robustness of these systems can be significantly improved by employing a robust extended Kalman filter (REKF). The system performance can also be enhanced by increasing the spatial diversity in measurements via employing additional cameras for video capture. We compare the performances of various image segmentation techniques in moving-object localization and show that normal-flow-based segmentation yields comparable results to, but requires significantly less time than, optical-flow-based segmentation. We also demonstrate with simulations that dynamic system modeling coupled with the application of an REKF significantly improves the estimation system performance, particularly, when subjected to large uncertainties.

Formation control of weak autonomous robots

Formation of autonomous mobile robots to an arbitrary geometric pattern in a distributed fashion is a fundamental problem in formation control. This paper presents a new fully distributed, memoryless (oblivious) algorithm to the formation control problem via distributed optimization techniques. The optimization minimizes an appropriately defined difference function between the current robot distribution and target geometric pattern. The optimization processes are performed independently by individual robots in their local coordinate system. A movement strategy derived from the results of the distributed optimizations guarantees that every movement makes the current robot configuration approaches the target geometric pattern until the final pattern is reached.

Artificial formation forces for stable aggregation of multi-agent system

This paper introduces, a robust and stable algorithm based on artificial formation forces, for multi-agent system (MAS) aggregation in 2D space. The MAS model with artificial forces; consists of inter-member collision avoidance element, formation generation element and a velocity based damping element; is analysed for stability and convergence. Computer simulations are used to illustrate stability and convergence, and to demonstrate effectiveness of the algorithm.

Quasiclassical trajectory calculations of collisional energy transfer in propane systems: multiple direct-encounter hard-sphere model

Quasiclassical trajectory calculations of collisional energy transfer from highly vibrationally excited propane + rare gas systems are reported. This work extends our hard-sphere model (A. Linhananta and K. F. Lim, Phys. Chem. Chem. Phys., 2000, 2, 1385) to examine the variation of the internal energy during collisions with a rare bath gas. This was accomplished by recording the vibrational and rotational energy of propane after each atom–atom encounter during trajectory simulations of propane + rare gas systems. This provides detailed information of the energy flow during a collision. It was found that collisions with small number of encounters transfer energy efficiently, whereas those with many encounters do not. Detailed analyses reveal that the former collisions arise from trajectories with high initial impact parameter, whereas the latter have small initial impact parameter. The reason behind this is the dependence of collision energy transfer (CET) of large polyatomic molecules on their shape. This is connected to the well-known role of rotational energy transfer (RET) as a gateway for CET.

Precision missile guidance for systems intercepting at small attack angles : a H‡ tracking approach

This paper uses the H1 tracking ideas in the missile guidance problem. The controller performs as a Precision guidance controller for small desired attack angles although theoretically the formulas are valid (when intercepting a maneuvering target in a precision guidance point of view) only for the case of head on collision. The controller essentially navigates the missile in a unique relative arc that is de ned by the missile and target location and the desired attack angle.

Promoting innovation in university teaching against the tide of centralised control and institutional risk avoidance

Over the last m'o decades, university systems world-wide have been subject to government initiated, top-down restructures in the name of greater effectiveness, accountability and quality. Within this timefrome, government interest in university teaching has increased, and innovation and responsiveness in teaching have been increasingly prioritised by both government and university policies. AcademiC interest in the teaching has also increased. and much research and discussion has focused on defining teaching as a source of scholarship and expounding its role in the promotion of innovation, and in the recognition and rewarding of teaching work. In this paper, I draw on a study of academics' views, which I have reported at previous AARE conferences and elsewhere, to raise questions about recent and ongoing developments in the work environment of university educators.l raise the possibility that systems and processes whose express purpose is to facilitate and support university educators' efforts to improve teaching are, in fact. inhibiting innovative practice by institutionalising an aversion to risk that is anathema to innovation.