Optimal Multi-Criteria Waypoint Selection for Autonomous Vehicle Navigation in Structured Environment

This paper deals with autonomous navigation of unmanned ground vehicles (UGV). The UGV has to reach its assigned final configuration in a structured environments (e.g. a warehouse or an urban environment), and to avoid colliding neither with the route boundaries nor any obstructing obstacles. In this paper, vehicle planning/set-points definition is addressed. A new efficient and flexible methodology for vehicle navigation throughout optimal and discrete selected waypoints is proposed. Combining multi-criteria optimization and expanding tree allows safe, smooth and fast vehicle overall navigation. This navigation through way-points permits to avoid any path/trajectory planning which could be time consuming and complex, mainly in cluttered and dynamic environment. To evaluate the flexibility and the efficiency of the proposed methodology based on expanding tree (taking into account the vehicle model and uncertainties), an important part of this paper is dedicated to give an accurate comparison with another proposed optimization based on the commonly used grid map. A set of simulations, comparison with other methods and experiments, using an urban electric vehicle, are presented and demonstrate the reliability of our proposals.     

Reconfigurable computing: design methodology and hardware tasks scheduling for real-time image processing

Technology evolution makes possible the integration of heterogeneous components as programmable elements (processors), hardware dedicated blocks, hierarchical memories and buses. Furthermore, an optimized reconfigurable logic core embedded within a System-on-Chip will associate the performances of dedicated architecture and the flexibility of programmable ones. In order to increase performances, some of the applications are carried out in hardware, using dynamically reconfigurable logic, rather than software, using programmable elements. This approach offers a suitable hardware support to design malleable systems able to adapt themselves to a specific application. This article makes a synthesis of the Ardoise project. The first objective of Ardoise project was to design and to produce a dynamically reconfigurable platform based on commercial FPGAs. The concept of dynamically reconfigurable architecture depends partially on new design methodologies elaboration as well as on the programming environment. The platform architecture was designed to be suitable for real-time image processing. The article outlines mainly the Ardoise tools aspect: development environment and real-time management of the hardware tasks. The proposed methodology is based on a dynamic management of tasks according to an application scenario written using C++ language.

Effect of root pass filler metal on microstructure and mechanical properties in the multi-pass welding of duplex stainless steels

This paper is focused on the estimation of the effect of root pass chemical composition, in multi-pass GTA Weldments, on microstructure and mechanical properties of duplex stainless steel welds. We used two different filler metals, the super duplex ER 2594 and duplex ER 2209. Microstructures of different passes of welded joints are investigated using optical microscope and scanning electron microscope. The relationship between mechanical properties, corrosion resistance, and microstructure of welded joints is evaluated. It is found that the tensile and toughness properties of the first weldment, employing the combination of ER 2594 in the root pass and ER 2209 in the remaining, are better than that of the second weldment employing ER 2209 all passes, due to the root pass grains refinement and its alloy elements content as chromium Cr and nitrogen N. The microstructure indicates the presence of austenite in different forms on the weld zone of ER 2209, same in the case of ER 2594, but with higher content and finer grains size, in particular Widmanstätten austenite WA. Potentiodynamic polarization tests of the first weld metal evaluated in 3.5% NaCl solution at room temperature have been demonstrated a corrosion resistance higher than that of the second weld metal. This work addressed the improvement of the corrosion resistance using appropriate filler metal without getting any structural heterogeneity and detrimental changes in the mechanical properties.     

The behaviour of ternary compounds InGaAs and GaAsN subjected to electron irradiation

This paper presents results of the effect of electron beam irradiation under UHV conditions on InGaAs/GaAs and GaAsN/GaAs systems using Auger electron spectroscopy (AES) and the electron energy loss spectroscopy (EELS) as surface analytical techniques. The ternary compounds In_0.53Ga_0.47As and In_0.2Ga_0.8As were irradiated by an electron beam under identical conditions (5 KeV; 10⁻³ A cm⁻²; for 60 min). The results showed that the compound In_0.53Ga_0.47As was stable under electron irradiation whereas changes in the Auger signal In-M₄₅N₄₅N₄₅ revealed that the electron beam had a significant effect on the compound In_0.2Ga_0.8As. GaAsN growth at 590 °C on GaAs is believed to produce a surface containing defects that is chemically unstable when bombarded by electrons. It was found that heating this compound at 730 °C stabilised the surface, protecting it from the effect of electron irradiation.     

Which aminoglycoside or fluoroquinolone is more active against Mycobacterium tuberculosis in mice?

To identify the most active aminoglycoside or fluoroquinolone for the treatment of tuberculosis, the in vivo activities of four different aminoglycosides and three different fluoroquinolones were compared with that of isoniazid (INH) in a murine tuberculosis model. Mice were each inoculated intravenously with 2.3 x 10(7) CFU of Mycobacterium tuberculosis H37Rv. Treatment began the next day (D1) after inoculation and continued for 4 weeks, at the frequency of six times weekly with one of the following regimens: INH, 25 mg/kg; ofloxacin, 200 mg/kg; levofloxacin, 100 or 200 mg/kg; sparfloxacin (SPFX), 50 mg/kg; and streptomycin, kanamycin, amikacin (AMIKA), and isepamicin, all at 200 mg/kg. The dosages of the treatments were presumably equivalent to their clinically tolerated dosages. The severity of infection and effectiveness of the treatment were assessed by the survival rate, spleen weights, gross lung lesions, and the numbers of CFU in the spleens. The results indicate that INH is more bactericidal than any of the aminoglycosides or fluoroquinolones tested, that AMIKA is the most active aminoglycoside, and that SPFX at 50 mg/kg is far more bactericidal than the treatment with other fluoroquinolones.     

Computer-Aided Design of Prestressed Concrete Cellular Bridge Decks

Abstract: This paper illustrates the application of an effective optimization procedure for the design of prestressed concrete cellular bridge decks consisting of single- and two-cell box girders or voided slab systems. An approximate live load moment analysis using the finite-strip method and finite-difference techniques that determines moment sensitivities to changes in the deck depth and flange thickness is proposed for box girder decks. The optimization process is much simplified by eliminating the need of finite-strip reanalysis at each iteration. The optimal design is formulated as a nonlinear programming problem and solved by the projected lagrangian method. The resulting solutions may be used as preliminary designs for short- and medium-span highway bridges, for which cellular decks represent competitive solutions. Optimization results show that voided slab decks are more economical than box girder decks for the short span range and wide decks, and single-cell box girders are a cost-effective alternative for medium span range and narrow decks.     

An Approach to Preliminary Design of Precast Pretensioned Concrete Bridge Girders

Abstract: This paper presents an approach to the preliminary design of simple span precast pretensioned highway bridge girders using mathematical optimization methods. This type of bridge system is competitive for short and medium spans but also can accommodate long-span bridges if girder splicing and continuity are introduced. The bridge design problem is formulated as a nonlinear programming problem and is solved by the projected lagrangian algorithm. Several design objectives are investigated either separately or simultaneously with the aim of achieving cost-efficient bridge designs. The approach is used to generate a new set of five optimal girder sections and then to determine the girder spacing and span length capability of each precast girder. The five sections types (A, B, C, D, and E) proposed herein are more cost-effective than the corresponding Canadian standard sections because for similar depths they achieve greater span length and girder spacing while requiring less concrete and prestressing steel. This study also enables identification of the governing design requirements (serviceability and/or ultimate limit states active constraints) that may be adopted as optimality criteria when simplified preliminary designs of this bridge type for different design codes and girder sections are required.     

The optimal class size for object-oriented software

A growing body of literature suggests that there is an optimal size for software components. This means that components that are too small or too big will have a higher defect content (i.e., there is a U-shaped curve relating defect content to size). The U-shaped curve has become known as the "Goldilocks Conjecture." Recently, a cognitive theory has been proposed to explain this phenomenon and it has been expanded to characterize object-oriented software. This conjecture has wide implications for software engineering practice. It suggests 1) that designers should deliberately strive to design classes that are of the optimal size, 2) that program decomposition is harmful, and 3) that there exists a maximum (threshold) class size that should not be exceeded to ensure fewer faults in the software. The purpose of the current paper is to evaluate this conjecture for object-oriented systems. We first demonstrate that the claims of an optimal component/class size (1) above) and of smaller components/classes having a greater defect content (2) above) are due to a mathematical artifact in the analyses performed previously. We then empirically test the threshold effect claims of this conjecture (3) above). To our knowledge, the empirical test of size threshold effects for object-oriented systems has not been performed thus far. We performed an initial study with an industrial C++ system and repeated it twice on another C++ system and on a commercial Java application. Our results provide unambiguous evidence that there is no threshold effect of class size. We obtained the same result for three systems using four different size measures. These findings suggest that there is a simple continuous relationship between class size and faults, and that, optimal class size, smaller classes are better and threshold effects conjectures have no sound theoretical nor empirical basis