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|By Marketwired .
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|January 2, 2013 08:00 AM EST
SANTA BARBARA, CA -- (Marketwire) -- 01/02/13 -- Green Hills Software, the largest independent vendor of embedded software solutions and a Gold Sponsor of this conference, will deliver a key presentation at the 11th Annual Consumer Telematics Show 2013, January 7, 2013 at Mandalay Bay, Las Vegas, NV along with supporting a number of secure virtualization demonstrations. For more information, please visit www.ghs.com/events/CES_CTS_2013.html.
In his presentation, Green Hills Software's chief technology officer, David Kleidermacher, will talk on the topic "The Future of Android in Vehicles." He will be joined by Curt Moore, the general manager of Texas Instruments' Automotive Business Unit. The session is scheduled from 2:50 p.m. to 3:25 p.m. on Monday, January 7, 2013.
With its open-source flexibility, powerful content delivery system, and consumer device ubiquity, Android is an intriguing choice for center stack designs. For OEMs, the opportunity is comprehensive, but not without significant challenges.
The presentation will focus on:
- methods such as workload partitioning and data encryption that will enable driver safety with system security across Android-based automotive systems
- options for integrating car-friendly software frameworks, app stores, and mobile phone content for the consumer's ultimate gain
- important emerging hardware and software trends, including multicore processors and GPUs, virtualization and ultra-speed wireless networks, increasing the complexity and challenges for the safe, reliable deployment of Android in automotive electronics
At this show, Green Hills Software will demonstrate:
1. High Performance Virtualization of AutoDroid on OMAP 5 Processor
A securely virtualized Android Jelly Bean-based platform tailored to the needs of automotive infotainment manufacturers and OEMs, the platform features the world's first ARM Virtualization Extension (VE) enabled hypervisor, INTEGRITY® Multivisor, running on a Texas Instruments, Inc. (TI) OMAP 5 processor. The unique INTEGRITY Multivisor architecture provides hard real-time capabilities with fast boot performance for "instant on" safety functions like rear-view camera while securely separating open application environments -- providing a rich Android experience in a safe, reliable manner for in-vehicle infotainment needs.
2. INTEGRITY Secure Smartphone - Trusted Mobile Device
INTEGRITY Secure Smartphone - Trusted Mobile Device (INTEGRITY-TMD) delivers the next generation of trusted mobile platforms. This commercially available standard platform features the industry-leading INTEGRITY Multivisor running on a Texas Instruments (TI) OMAP 4460 processor. The INTEGRITY Secure Smartphone securely separates Android open application environments with safe device, network and storage access, and management to the guest operating system -- providing a rich Android experience in a safe, reliable manner for commercial, government and enterprise use.
About Green Hills Software
Founded in 1982, Green Hills Software is the largest independent vendor of embedded development solutions. In 2008, the Green Hills INTEGRITY-178B RTOS was the first and only operating system to be certified by NIAP (National Information Assurance Partnership comprised of NSA & NIST) to EAL6+, High Robustness, the highest level of security ever achieved for any software product. Our open architecture integrated development solutions address deeply embedded, absolute security and high-reliability applications for the military/avionics, medical, industrial, automotive, networking, consumer and other markets that demand industry-certified solutions. Green Hills Software is headquartered in Santa Barbara, CA, with European headquarters in the United Kingdom. Visit Green Hills Software at www.ghs.com.
Green Hills, the Green Hills logo, INTEGRITY and Multivisor are trademarks or registered trademarks of Green Hills Software in the U.S. and/or internationally. All other trademarks are the property of their respective owners.
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Green Hills Software
Barbel French
[email protected]
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VIEWS: 437 PAGES: 10 CATEGORY: Emerging Technologies POSTED ON: 8/13/2010 Public Domain
(IJCSIS) International Journal of Computer Science and Information Security, Vol. 8, No. 4, July 2010 Fuzzy Logic in a Low Speed Cruise-Controlled Automobile Mary Lourde R., Waris Sami Misbah, Department of Electrical & Electronics Engineering BITS, Pilani-Dubai, Dubai International Academic City, U.A.E Abstract — Traffic congestion is a major problem that drivers MATLAB. It is the most commonly used platform by most face these days Long rush hours exhibit both mental and of the scientific organizations. physical toll on a driver. This paper describes the design of cruise control system based on fuzzy logic, in order to reduce In order to make the fuzzy logic cruise control system the workload on a driver during traffic congestion. The more realistic, we need to model a commercially available proposed low speed cruise control system operates by sensing car on MATLAB and then integrate the fuzzy cruise control the speed and headway distance of the preceding vehicle and system to the vehicle model. The car chosen for modeling is controlling the host vehicle's speed accordingly. The vehicle Toyota Yaris 2007 Sedan[1]. The reason behind the selection speed is controlled by controlling throttle and the brakes. The of this car is the availability of technical information of its fuzzy logic based cruise controlled vehicle is simulated using control system. MATLAB Simulink and the results are presented in this paper. Keywords - fuzzy logic, cruise control, low speed, and traffic III. MODELING OF THE VEHICLE ON MATLAB congestion. The modeling of the vehicle's drive train and dynamics is done by mapping on the specifications of a Toyota Yaris I. INTRODUCTION onto a demonstration model in MATLAB[6]. The automatic drivetrain model available in SIMULINK is taken as the base A cruise control system is a general feature found in most model for the system development. of the automobiles today. A basic cruise-controlled car travels at constant speed set by the driver, allowing automatic movement of the vehicle without the driver pressing the accelerator. The driver sets the speed as desired and then the cruise control system maintains that speed by controlling the throttle of the car. A typical cruise control system comes with features such as acceleration, coasting and resume functions. Since the cruise control system replaces the driver, it must be able to imitate human behavior. The use of fuzzy logic is an ideal Figure 1. Block diagram of basic Drivetrain system tool for this purpose. Fuzzy logic, which also means imprecise logic, when applied to system makes it user friendly. A fuzzy The inputs to the drive train are the throttle opening and system involves a set of linguistic rules applied on set of input and output parameters, in order to control a system. brake torque. The engine, vehicle dynamics and the automatic transmission have been modeled using non-linear Conventional cruise control systems generally operate at differential equations. The transmission control unit has been speeds greater than 40 km/h; mostly used by drivers at modeled in STATEFLOW as it involves decision-making highways. For speed lower than this, the vehicle needs to be based on the current state of the vehicle. controlled manually. A cruise control system that operates at lower speed is rarely available. Reference [6] gives the complete details of modeling equations used by Mathworks to design this drive train. The complete Drivetrain model used for simulation is shown in II. SOFTWARE USED TO SIMULATE THE figure 3 below. The engine subsystem was modified SYSTEM according to the engine-torque curve of Toyota Yaris. The software used for the modeling of the system is Default transmission gear ratios were modeled to that of MATLAB/SIMULINK. It has several toolboxes available Toyota Yaris. The shift schedule used by the shift logic block such as the Fuzzy Logic Toolbox, SIMULINK, Image and the vehicle dynamics parameters were modified by the processing, Simdriveline, SimMechanics, SimScape etc. all corresponding Toyota Yaris values. Any subsystem for of which can be integrated with a control system. This allows which the corresponding Toyota Yaris specification was not the user to develop most of the real world conditions in available, the default value used by Mathworks has been retained. 68 http://sites.google.com/site/ijcsis/ ISSN 1947-5500 (IJCSIS) International Journal of Computer Science and Information Security, Vol. 8, No. 4, July 2010 Figure 2. Complete Drivetrain SIMULINK model used for the simulation [6] Simulation One Figure 3. Simulation 1 results of a Toyoto Yaris 2007 automobile under normal running environment 69 http://sites.google.com/site/ijcsis/ ISSN 1947-5500 (IJCSIS) International Journal of Computer Science and Information Security, Vol. 8, No. 4, July 2010 vehicle. From the simulation1 results shown in figure 3 IV. MODEL TESTING OF THE AUTOMOBILE above it is seen that the vehicle speed as well as the engine The vehicle model is tested for accuracy and compared speed closely follows as required by the instruction specified with the actual operation of Toyota Yaris. Several by the throttle profile of the vehicle. simulations, with various inputs, were carried out to verify As we can see from the graph, the vehicle speed reaches the simulation model of the vehicle of which two set of its maximum value of 120 mph, which is the top speed of results are given below. Toyota Yaris. The maximum engine rpm reached is 4100, The vehicle's throttle profile are selected to simulate the which is about 100 revolutions less than that of Toyota Yaris. real time operation of the engine and vehicle speeds and the The up shifts take place at 10 mph and 40 mph, which are gear positions are also observed to verify the working of the close to the shift schedule of Toyota Yaris. Simulation two Figure 4. Simulation 2 results of the automobile in heavy traffic environment 70 http://sites.google.com/site/ijcsis/ ISSN 1947-5500 (IJCSIS) International Journal of Computer Science and Information Security, Vol. 8, No. 4, July 2010 Figure 4 shows a typical example of a heavy traffic environment B. Definition of Input Membership Functions as the vehicle stays below 10 mph for a major amount of time during the simulation. The simulation1 is carried out for 300 Inputs to the fuzzy controller are relative velocity seconds and the simulation2 is done for 600 secs. In simulation and the distance between the two vehicles. Therefore, 2, in addition to the throttle profile, the second input brake torque we need to define membership functions for fuzzy is also applied. These two simulation results proves the model of variables relative velocity and relative distance. The range for the fuzzy variable relative velocity chosen is - the automobile in the Simulink platform. 10 km/h to +10 km/h. The speed range chosen is the V. DESIGN OF THE FUZZY LOGIC CRUISE typical range that vehicles travel in a congested traffic CONTROL SYSTEM situation. The range of relative distance is chosen 0.5 to 2m, which again is the typical range in a congested The objective of the fuzzy controller is to control the vehicle traffic situation. Most of the membership functions in a congested slow moving traffic environment. Therefore, the chosen in this system are triangular shaped as it has less design of the fuzzy controller must be based on the variables that parameters and responds rapidly when compared to affect the vehicle's movement in such an environment other functions. This helps the inference system, to make decisions more effectively when compared to A. Input to the Fuzzy Controller other membership functions. Literature also shows that In order to control the vehicle longitudinally, a sensor must most commonly used membership function is triangular detect a vehicle ahead and provide the distance and relative shaped, due to its effectiveness in a real-time velocity of that vehicle with respect to the host vehicle. environment and economic feasibility. Therefore, a 24 GHz radar sensor can be installed in the vehicle 1) Relative Velocity since it has a very short range [7]. The relative velocity fuzzy variable has the The sensor is not modeled in MATLAB/SIMULINK instead, following linguistic values: mildly negative (MN), an output profile coming from a sensor is assumed and provided mildly positive (MP), negative (N), positive (P), very as an input to the fuzzy controller. There are two output profiles negative (VN), very positive (VP) and null (N). The from the sensor. They are relative velocity and relative distance figure 6 below shows the membership function between two vehicles. The figure below shows two typical definition for relative velocity. unfiltered measurement profiles from a sensor [8]. Figure 6. Membership function for Relative Velocity 2) Relative Distance The fuzzy variable for relative distance has the following linguistic values: very very close (VVC), very close (VC), close (C), Mildly Close (MC), distant (D), very distant (VD) and very very distant (VVD). The Figure 5. Output profiles from a radar sensor figure 7 below shows the membership definition for relative distance It can be observed from the above profiles, that when relative velocity is positive, the distance between the vehicles increases. The distance between cars will keep on increasing, as long the relative velocity is positive. The rate of change of distance varies the rate of change of relative velocity. When relative velocity becomes negative, the distance between the vehicles starts decreasing. Relative distance decreases as long as the relative velocity remains negative. Figure 7. Membership function for relative distance (0.5 - 2 m). 71 http://sites.google.com/site/ijcsis/ ISSN 1947-5500 (IJCSIS) International Journal of Computer Science and Information Security, Vol. 8, No. 4, July 2010 C. Output of the Fuzzy Controller be formed in order to control the output variables 1) Throttle Control throttle and brake based on the input variables, relative velocity and relative distance. A set of 31 rules for The linguistic values for throttle control are down (D), down throttle control and another set of 34 rules for brake very low (DVL), down low (DL) down medium (DM), up (U), up control is composed. All the rules are conditional. Table very low (UVL) up low (UL), up medium (UM) as shown in 1 shows set of rules for brake control and Table 2 figure 8 below. The throttle control membership functions are shows the rule set for throttle control. classified into two major categories, Up and Down. These two are further divided into subcategories normal, low, very low and TABLE I. RULE BASE FOR BRAKE CONTROL medium. This is to enhance the control of the vehicle at different relative velocities and distances. RD RS VN N MN NULL MP P VP VVC HRD VH - HRD L L - VC VH H VH - L L - C - H M - L L VL MC - H L - L VL - D - M M - L NULL NULL VD - M M - L NULL NULL VVD - M M NULL - NULL NULL Figure 8. Membership function for Throttle Control TABLE II. RULE BASE FOR THROTTLE CONTROL Majority of the membership functions cross each other. The RD RS VN N MN NULL MP P VP membership functions have been made to cross in order to allow VVC D D D NULL DM - - for smooth transition from one membership function to other, VC DM DM DM - DM UVL - while the input values are changing. If the cross points are not C - DM DL - DVL UVL - included, discontinuities might arise in the operation of the MC - DL DVL - UVL UL UM controller as no rule will be fired at the end of each membership DV function. D - DV L - UL UM U L VD - - - - UM U U 2) Brake Control VVD - - - U - U U Controlling the brake along with the throttle allows better control of the car. Since the vehicle is assumed to travel in E. Defuzzification Method congested traffic situation, it will be required to stop frequently. The final output of the fuzzy controller must be a The linguistic values for the fuzzy variable brake control are no discrete value. In order to achieve this, a method called brake (NB), slow brake (SB), medium brake (MB), high brake defuzzification must be applied. The centroid method (HB) and hard brake (HDB). The figure 9 below shows the was used to defuzzify the output fuzzy variables, since membership functions of the brake control all the membership function definition are triangular. The centroid method makes it easier to defuzzify a triangular shaped membership function and reduces the overall computational task allowing the system to respond effectively F. Selection of Inference Method The fuzzy logic toolbox provided in MATLAB has two inference methods, Mamdani inference method and the Sugeno method .The Mamdani method is commonly employed in most of the applications due to the fact that Figure 9. Membership function for brake control the Mamdani method gives outputs as fuzzy variables. Whereas Sugeno method gives linear output. As both the D. Construction of the Rule Base outputs (throttle and brake) used in this controller are The construction of rules base determines relation between input fuzzy variables, Mamdani method is selected for the and output membership functions. This means that the fuzzy inference. controller will give a certain output depending upon the input and the rules that are executed. A set of rule guides the fuzzy G. Fuzzy Logic Cruise Control System model in inference system to make decision regarding the control of the MATLAB/SIMULINK output variable. A rule can take three forms conditional, The fuzzy logic cruise control system needs to be unconditional and an assignment. In this system case rules must integrated with the vehicle model. The vehicle model 72 http://sites.google.com/site/ijcsis/ ISSN 1947-5500 (IJCSIS) International Journal of Computer Science and Information Security, Vol. 8, No. 4, July 2010 has throttle opening and brake torque as its inputs. Two fuzzy diagram of the Fuzzy Logic Cruise Controlled controllers are used to control the throttle and brake respectively. automobile. Figure 10 shows the complete MATLAB-SIMULINK block Figure 10. Complete MATLAB/SIMULINK model of the Fuzzy Logic Cruise Control System 1000 lb-ft and throttle is reduced to about 1%. Both the VI. SIMULATION OF THE FUZZY LOGIC relative velocity and relative distance remain constant during CRUISE CONTROL SYSTEM the next 200s and so does the brake torque and throttle. We can observe that during this period of 200s that the vehicle A. Simulation3 - Low speed cruise control system case i speed remains zero. Therefore, it can concluded during this The fuzzy logic cruise control system simulation is period, the vehicles are at a stop. This is a typical situation of simulated for thirty minutes with the assumed profile for vehicles being stuck in a heavy traffic environment. The relative velocity and relative distance as shown in figure 11. cruise control system has successfully detected the vehicle The throttle position, brake torque and vehicle speed are the approaching the preceding vehicle and brings the vehicle to output variables observed. Initally as the relative velocity and stop when the minimum distance is reached. distance increase, the speed of the vehicle increases. An At 800s, as both the relative velocity and distance begin increase in throttle opening and the lowering of the brake can to rise,the throttle increases and the brake torque is lowered be observed. At 100s, relative velocity begins to decrease, allowing the car to acclerate and maintain constant speed for however the relative distance still increases, although at a about 200s.Then as relative velocity and distance increase to lower rate. This is due to the fact that relative distance will a higher value, we see a further rise in throttle value and increase as long as the relative velocity is positive. The lowering of brake. During the final stage of the simulation, relative distance starts to decrease the moment, relative the relative velocity and distance begin to decrease and velocity crosses the zero mark. The throttle is reduced and therefore the cruise control system lowers the throttle and the brake torque applied increases as the relative velocity and increases the brake in order to adjust the speed of the vehicle. relative distance and consequently, we see a decrease in Finally, as the vehicle approaches the preceding vehicle, a vehicle speed. The vehicle speed continues to decrease drop in the throttle and an increase in the brake torque can be further as relative velocity increases in the negative direction. seen, which bring the vehicle to a stop. At 600s, the relative velocity becomes zero and the relative distance reaches its minimum value. Therefore, the fuzzy cruise control system increases the brake torque to 73 http://sites.google.com/site/ijcsis/ ISSN 1947-5500 (IJCSIS) International Journal of Computer Science and Information Security, Vol. 8, No. 4, July 2010 During the simulation, we observe that vehicle speed velocity and relative distance. The fuzzy controller takes into remains constant for a certain period, even though both the account the degree of change in both the relative velocity and relative velocity and distance are varying. This is because of the distance. This condition can be observed in the following the fuzzy logic controller being assigned rules to maintain a simulations as well. certain speed of the vehicle for a certain range of relative B. Simulation4 –Low speed cruise control system case ii In the intial phase of simulation, the vehicle speed increases as the both realtive velocity and distance increase. A further rise in vehicle speed(16 km/h at about 200s) is observed as shown in the figure 12 when relative velocity and distance increase further. During this period appropriate changes made by the fuzzy logic controller, can be observed, to the throttle and the brake torque to bring about this rise in vehicle speed. The vehicle speed remains constant for about next 600s. At 400s, the relative velocity reaches zero and the relative distance reaches the maximum value (2m) Both of them remain at that value for the next 200s. During this period, the both the throttle and brake torque remain the same and so does the vehicle speed. This is sitaution, where both the vehicles move at constant speed and headway distance. The fuzzy logic controller has managed to detect this and has responded correctly. At 800s, the relative velocity decreases negative and subsequently the relative distance alos begins to decrease. Therefore, we see a drop in the throttle and an increase in the brake torque applied. The vehicle speed, thereby decreases to 5.80 km/h and remains at this speed until the the relative velocity crossed the zero. As mentioned in the analysis of the previous simulation, the vehicle speed remains the same even though both relative velocity and distance decrease. The reason being the same as metioned earlier. In the final phase, the vehicle speed increases as both the relative velocity and distance increase. Appropriate changes in throttle and brake can be observed during this period. Discontinous spikes in the throttle and brake graphs can be observed whenever the relative velocity crosses the zero the mark. This reason behind this is that no rule is executed by the fuzzy controller at that very instant. However, this does not have an effect on the vehicle speed,since the time span for which these discontuinities occur is negligible. C. Simulation5 – Low speed cruise control system case iii As the simulation begins, the vehicle acclerates as both relative velocity and distance increase. Further changes in vehicle speed can be observed as relative velocity and distance continue to increase. The fuzzy logic controller has adjusted to vary the throttle and brake appropriately to raise the vehicle speed. The results are shown in the figure 13. The vehicle speed begins to decrease at 300s due to the realtive velocity crossing the zero mark. To lower the vehicle the speed the fuzzy controller has increased the brake torque and has simulatanouelsy lowered the throttle. As the relative velocity and distance continue to decrease, we can observe the further decrease of throttle and increase of brake torque Figure 11. Simulation3- Low speed cruise controlled system case i in order to lower the vehicle speed. 74 http://sites.google.com/site/ijcsis/ ISSN 1947-5500 (IJCSIS) International Journal of Computer Science and Information Security, Vol. 8, No. 4, July 2010 The vehicle speed rises again the moment the relative In the last phase of the simulation, the throttle is lowered velocity crosses the zero mark at 600s. The fuzzy controller and the brake torque is increased, since relative velocity the varies the throttle and the brake torque to bring about this becomes negative and the vehicles starts approaching each change in vehicle speed. other. The vehicle decelerates to about 1km/h at the end of the simulation. The fuzzy controller has effectively managed to control the vehicle appropriately throughout the simulation. Figure 12. Simulation 4 –Low speed cruise control system case ii Figure 13. Simulation 5 –Low speed cruise control system case iii 75 http://sites.google.com/site/ijcsis/ ISSN 1947-5500 (IJCSIS) International Journal of Computer Science and Information Security, Vol. 8, No. 4, July 2010 D. Simulation 6 –Low speed cruise control system case iv E. Simulation7 – Switching of cruise control system to The vehicle initally accelerates to 7.86 km/h as relative manual mode velocity and distance increases and moves at constant speed This simulation is performed in order to demonstrate that for another 70s. Then vehicle speed further increases to 16 the cruise control system can be switched to manual mode km/h at 100s. Throttle and brake response during this period whenever the driver wishes to take over the control of the can be seen in figure 14. The throttle and brake remain the vehicle. same till the vehicle remains at this speed Figure 14. Simulation 6 – Low speed cruise control system case iv At 225s, relative velocity crosses the zero mark and the vehicle speed begins to decrease. The throttle is lowered further and brake increases in order to lower the vehicle speed further. At 275s, the relative velocity remains constant and therefore, the brake and throttle remain constant. Hence, it can be concluded that the fuzzy controller has responded Figure 15. Simulation 7 – Switching of cruise control system to manual mode appropriately when relative velocity is constant. The vehicle intially responds to the changes in the Finally, the vehicle speed begins to increase as the relative velocity and distance as it is being controlled. The relative velocity crosses the zero mark. Appropriate changes driver applies the brakes at 150s, as the manual brake graph in the throttle and brake torque can be observed from the shown in figure 15. The same brake profile can be seen in figure 14. brake torque graph. For the next 150s, we can observe from 76 http://sites.google.com/site/ijcsis/ ISSN 1947-5500 (IJCSIS) International Journal of Computer Science and Information Security, Vol. 8, No. 4, July 2010 the brake torque graph, that the brake torque profile remains enhanced to a real time system by extending the model of the the same as the manual brake profile. This shows that the automobile with feed back sensors appropriately on vehicle is being controlled by the driver. A similar MATLAB. This will enable the movement of the vehicle in observation can also be made with respect to throttle graph. any direction required when simulating the vehicle. This switching of control of the vehicle is performed by A complete VRML (virtual reality machine language) adding a switch to the output of the fuzzy logic brake model for an urban traffic environment shall be designed. controller and manual brake. The switch has a control input This will allow testing of the vehicle in a congested traffic and two data input port. The control input allows the first enviroment. The 3D traffic environment will require several input, if it is above zero. The brake input has been given both external variables such as detection of traffic lights, as the control input and the first input. The fuzzy logic brake pedestrians, intersections along with the movement of the controller output is given as the second input to the switch. vehicle in the congested traffic environment. The moment the driver presses the brake pedal, and the brake torque increases above zero, the fuzzy logic controller The fuzzy logic system must be able to incorporate the connection to the vehicle is cut off by the switch and it environmental conditions when the vehicle is moving in the allows the manual brake input to the vehicle and hence the above 3D model. The VRML realm builder along with the control of the vehicle is switched to the manual mode. A virtual reality toolbox allows the connection of the fuzzy similar method is applied for the throttle input. cruise control system to the 3D system. This will make the testing of the system more realistic. VII. CONCLUSION AND FUTURE WORK ACKNOWLEDGEMENTS In this project a Fuzzy logic controlled low speed cruise control system is designed successfully and extensive I would like to express my sincere gratitude to Dr. M. simulation is carried out to test the results..The basis of the Ramachandran – Director, Bits Pilani, Dubai for granting me design of this control system was to control the vehicle in a an opportunity to perform this project in the college congested traffic situation.The inputs to vehicle model are environment and use its resources. I would also like to thank the throttle and brake. Therefore, two separate fuzzy logic my thesis guide Dr.Mary Lourde R for her constant guidance controllers were modeled to control these vehicle actuators. and support, which has helped me in making this project. To control the throttle, a set of 33 rules were constructed and to control the brake, a set 35 rules were constructed. As both REFERENCES these control variables are fuzzy variables, Mamdani [1] Toyota Yaris Sedan Specification , www.thecarconnection.com Inference method is chosen to give the output. Two different 2007 Toyota Yaris 4dr Sedan Auto S (Natl) fuzzy controllers for brake and throttle are used to have http://www.thecarconnection.com/specifications/toyota_yaris_2007_4 better control over the vehicle, by allowing them to operate dr-sdn-auto-s-se_performance-specs independently. [2] R. Garcia et al., "Frontal and Lateral Control for Unmanned Vehicles in Urban Tracks,"IEEE Intelligent Vehicle Symp. (IV2002), vol.2, In order to maintain a safe distance between the IEEE Press, 2002, pp. 583–588. controlled vehicle and the preceding vehicle, two variables [3] José E. Naranjo, et al., "Using Fuzzy Logic in Automated Vehicle are required; the relative velocity and distance between the Control" IEEE INTELLIGENT SYSTEMS, January 2007:36-44 vehicles. The sensor profile of these variables were assumed [4] M.A. Sotelo et al., "Vehicle Fuzzy Driving Based on DGPS and from a research report [8]. Using the basis of this profile, Vision," Proc. 9th Int'l Fuzzy Systems Assoc., Springer, 2001, different input relative velocity and distance profiles were pp.1472–1477. given to fuzzy logic cruise control system for testing. [5] A. Broggi et al., "The Argo AutonomousVehicle's Vision and Control Systems," Int'l J. Intelligent Control and Systems, vol. 3, no.4, 2000, The simulation results shows that fuzzy logic cruise pp. 409–44. control system operates well to control the vehicle [6] Using Simulink and Stateflow in Automotive Applications, www effectively based on different input profiles provided to the mathworks.com Modeling an Automatic Transmission Controller system.The fuzzy cruise control system completely controls http://www.mathworks.com/products/simulink/demos.html?file=/prod the vehicle without the intervention of the driver. The ucts/demos/shipping/simulink/sldemo_autotrans.html maximum speed that the vehicle reaches when the cruise [7] K. Naab et al., "Stop and Go Cruise Control", "International Journal of Automative Technology", Vol 1,No .2, June 2000, pp 61-69 control sytem is operating is 16 km/h. This is the typical [8] K. Hedrick, J. Jang, and A. Potier, "Cooperative Multiple-Sensor speed range of vehicles moving in a congested traffic Fusion for Automated Vehicle Control" (April 1, 2004). California situation.This leads to the conclusion that the fuzzy logic Partners for Advanced Transit and Highways (PATH) system is able to control the vehicle very well in a low speed [9] Fancher et al.,"Intelligent Cruise Control Field Operational Test (Final heavy traffic environment. Moreover, a switching function Report)",University of Michigan Transportation Research Institute has been attached to the system which allows the driver to (1998). take over the operation simply by pressing the brake or the [10] Ing. Ondřej Láník, "Fuzzy Logic Vehicle Intelligent Cruise Control throttle without any difficulties. Simulation", Czech Technical University in Prague, Faculty of Mechanical Engineering,Technická 4, CZ – 166 07 Praha 6, Czech The drivetrain model used in this system is a very basic Republic. one and the vehicle can be controlled in the longitudinal [11] Micheal Klotz, Rohling H, "24 Ghz for Automotive applications", direction only. This low speed cruise control system can be Journal of Telecommunications and Technology, April 2001, pp 11- 14. 77 http://sites.google.com/site/ijcsis/ ISSN 1947-5500
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Far too many organizations are still clinging to Windows XP machines – including a branch of the U.S. military.
Applications & Software News
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February 11, 2015 By Leave a Comment
What you don't know can and will hurt you. A recent study finds that your users are probably using more cloud apps than IT knows about, and that many of these apps carry serious security risks.
Flash alert: Time to disable popular plug-in
February 4, 2015 By Leave a Comment
Stop us if you've heard this one before: It may be time to seriously consider blocking Adobe Flash for all your users.


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We definitely need more disabled people in adverts, on TV and in movies. But hey, it's a start.
Scope research says some 90% of disabled people believe that having more disabled people in the media would improve attitudes to disability. For me, the Paralympics changed everything.
Disability in Australia was seen quite differently after the 2000 Paralympics and I think a similar thing happened here in the UK. I think the games made disability not only okay, but wonderful. But unfortunately in Britain there's a real stigma attached to benefits and I think somehow that has become associated with disability.
Seeing how my new friends have overcome their adversities is such an inspiration. They are so well-adjusted and smart. I'll be sharing their stories here in the coming weeks and I can't wait for you to get to know them. They are just like you and me.
Dear Kenny... You're absolutely correct. From the housing crisis, to the spiralling cost of living, to the growing chasm between the richest and poorest, our city faces a range of issues that urgently need addressing.
In Scotland, we have consistently argued that our own recovery has been held back by the Chancellor's fixation with austerity with the burden more often than not being borne by the most vulnerable in our society.
For all the Tories warm words, it is Labour that has led the way on devolution... We are calling on the government to deliver an ambitious and comprehensive package on devolution, handing power to every area and region of our country North and South, East and West.
The hope that resonates with the defiance shown by the Greek people has been a long time coming for people suffering the weight of austerity, measured in the lack of fight to what has seemed a juggernaut of despair rolling over the lives of millions without respite. Not anymore.
After a long agonizing 45 minutes of panic, anxiety and fright I heard a distant voice saying "it's police, we are coming to get you." I still remember the huge relief I felt that moment, it was the biggest sense of relief in the 22 years of my life. When I came out of 7/7 I believed I had been given a second chance.
Understandably, more and more renters are joining Shelter's campaign to demand improvements. So why don't we just cap rents? It would be quick and direct, and instinctively, it feels like an easy way to make life cheaper for Britain's eleven million renters.
We may see them as disparate, but decisions ranging from which contraception to use to whether you breastfeed your baby are all reproductive choices, and we need to stand up for women's right to make them by themselves and for themselves - not in accordance with anyone else's agenda.
Whilst the London Bombings occurred 10 years ago this month, one only has to look at the cascade of news reports of traumatic events in the UK, and further afield, which affect people from all nations. For those who are affected by PTSD, or indeed by other mental health disorders related to traumatic exposure such as clinical depression, specific phobia or substance misuse, life after traumatic events can be very challenging.
I found it oddly comfortable to return to writing a heroine rather than a hero - my first female lead since I wrote The Chosen One, published under my pseudonym, Sam Bourne, in 2010. I instantly felt at ease, guided by that sense that I knew Madison - how she would think, how she would speak, even how she would try to get to sleep in the long, slow hours of the night.
The "one-size fits all" world of Mr Hunt's metropolitan life, with seven-day access to a GP or nurse you've never met, to treat the minor self-limiting illness that has been irritating you since that morning, will not help these patients. They need to see professionals who are experienced, highly skilled, with the time and resources to care for them.
The women's game offers a unique opportunity. Where else can you watch a team representing the club you have always supported, for less than a tenner and be able to approach the players after? We can see by the England squad that just achieved third place at the World Cup how relatable, likable and down to earth they all are.
So glad I was in the park that day and the way things are going, I'm really excited about the future and doing more films. It sure beats working for a living!
Excitement has rarely been higher ahead of the big August kick-off and people are already trying to identify who will fly and who flop in 2015/16. But what about those individuals who may surprise you?
She was there all along, she just got lost. Amy has really made me understand that. She was coming back to us, she was back on her feet and there were plans for new music and babies right before she died. Kapadia said "once people see the film they realise she was amazing and special and we should have looked after her." We really should have.
Babies cry. It's what they do. Some babies struggle to sleep and some babies have problems feeding. It doesn't make them any less "good" than the babies who don't have these issues. And it certainly doesn't make them "bad babies".
At the RHS we believe a balance can be struck between the needs of motorists to pave and park, and the benefits front gardens bring, that's why we're providing advice, guidance and tips on the plants and paving that can be used in conjunction with the needs of motorists.
Losing someone you love is difficult enough, living without someone you love is heartbreaking enough, living day by day is exhausting enough without the added frustrations and torments contributed by those who exclude and patronise those living with grief. The patronising comments and exclusion are usually unintended, I know. That knowledge does not make the sting any less, though.
It was only a month ago that I was crouched over my bed in excruciating pain. After three more hospital visits, I was told I was experiencing gastroenteritis. I didn't believe anything they said anymore. I knew my body and I knew there was something wrong. Something serious. After one more visit to the doctors surgery, I was sent into hospital with suspected appendicitis. I was then admitted, and one week later.. I was coming around from emergency Ileostomy Surgery.
Congratulations on the gorgeous Christening of Princess Charlotte! Now Kate - can I call you Kate? I feel like I know you so well as we have so much in common. We both live in London, we both have two kids and we're both married to blokes called Will! SNAP.
The story of London on and after 7 July 2005, despite the pain and the anguish which will never abate, is a more optimistic story than that. People stopped to help. We mourned
together. It changed us. The bombs brought fire and death; but I recall that one of the Olympic symbols is a torch. That was the fire which lit London three years ago, which London will carry forever, and in whose flickering light the names of those who died will live for evermore.


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Sometimes, it feels as if we are eavesdropping on day-to-day conversations rather than just hearing the usual litany of platitudes and regrets.
Sometimes, it feels as if we are eavesdropping on day-to-day conversations rather than just hearing the usual litany of platitudes and regrets.
"Stray Dog" largely succeeds because Granik's technique complements her subject. Both he and the film are modest in their goals and cherish the value of…
"The Ballad of Narayama" is a Japanese film of great beauty and elegant artifice, telling a story of startling cruelty. What a space it opens…
Patrice Leconte's "Monsieur Hire" is a tragedy about loneliness and erotomania, told about two solitary people who have nothing else in common. It involves a…
Nick Allen picks one of his favorite Roger reviews.
An excerpt of Tony Fitzpatrick's column, "Dime Stories," which has its first published compilation in stores this month.
Nick Allen picks one of his favorite Roger reviews.
An excerpt of Tony Fitzpatrick's column, "Dime Stories," which has its first published compilation in stores this month.
A review of Han Gong-ju from a Far Flung Correspondent.
An FFC responds to Kyle Smith's assertion that women can't enjoy GoodFellas.
America takes on Trump; "St. Elmo's Fire" turns 30; Music in Sofia Coppola's films; Chat with "Vampire Diaries" DP Darren Ganet; R.I.P. Brian Clark.
The table of contents for RogerEbert.com's complete coverage of AFI Docs 2015.
* This filmography is not intended to be a comprehensive list of this artist's work. Instead it reflects the films this person has been involved with that have been reviewed on this site.
A list of the two-and-a-half-star reviews so far posted on RogerEbert.com this year.
Barbara Scharres conveys her fourth day at Cannes, including screenings of "Saint Laurent" and "The Wonders," along with a press conference for John Woo's "The Crossing."
The 64th Festival de Cannes is winding down, and the signs are everywhere. The hand-laundry of festival-goers hangs from the shutters of the windows opposite my hotel (somebody is running out of clean clothes). The streets seem emptier in the early morning, and the area around the press mailboxes in the Palais is starting to have a vacant feeling.
Just five minutes before Sean Penn's scheduled arrival at the press conference to discuss Paolo Sorrentino's competition film "This Must Be the Place," the room still had dozens of empty seats. The number of photographers gathered expectantly in front of Penn's place at the table onstage was only a meager 23, unlike the mob for Brad Pitt just a few days earlier. It only meant that many journalists have already gone home or were playing hooky today.
Accompanied by the director and producers of "This Must Be the Place," and Irish actress Eve Hewson, Penn strolled in looking pleased with himself. He's deeply tanned and nonchalantly chewing gum, his hands stuffed in the front pockets of his jeans. He credits director Sorrentino with "a magic hand" in shaping his performance as an eccentric American rock star living in retirement in Ireland. About the film, Sorrentino said, "The idea of the story came from a Nazi criminal. I wanted to write a story about a 50-year-old rock star who remains a child, and have these two confront each other.
Following a heavy rain in the late afternoon yesterday, this morning in Cannes was gloriously sunny, the sky becoming more perfect and cloudless as the day progressed. I was hoping for a group of films to blow away yesterday's prevailing images of poverty, oppression, and child abuse. "The Artist" by Michel Hazanavicius, screening in competition, seemed like it could do the trick. It's a romance set in Hollywood; and strangely enough, it's conceived as a silent film.
"The Artist" has the most self-congratulatory press kit I've ever seen--55 glossy illustrated pages of in-depth interviews with all the key figures involved with the production, everyone congratulating and complimenting everyone else for their fabulous work. Could the film measure up to this? Not hardly. It is indeed a black-and-white silent film with musical accompaniment. Director Hazanavicius has attempted to revive the techniques of the silent cinema to tell a story entirely through acting, with text intertitles replacing spoken dialogue.