Abstract

Mención Internacional en el título de doctor The technological advances in the Intelligent Transportation Systems (ITS) are exponentially improving over the last century. The objective is to provide intelligent and innovative services for the different modes of transportation, towards a better, safer, coordinated and smarter transport networks. The Intelligent Transportation Systems (ITS) focus is divided into two main categories; the first is to improve existing components of the transport networks, while the second is to develop intelligent vehicles which facilitate the transportation process. Different research efforts have been exerted to tackle various aspects in the fields of the automated vehicles. Accordingly, this thesis is addressing the problem of multiple automated vehicles cooperation and coordination. At first, 3DCoAutoSim driving simulator was developed in Unity game engine and connected to Robot Operating System (ROS) framework and Simulation of Urban Mobility (SUMO). 3DCoAutoSim is an abbreviation for "3D Simulator for Cooperative Advanced Driver Assistance Systems (ADAS) and Automated Vehicles Simulator". 3DCoAutoSim was tested under different circumstances and conditions, afterward, it was validated through carrying-out several controlled experiments and compare the results against their counter reality experiments. The obtained results showed the efficiency of the simulator to handle different situations, emulating real world vehicles. Next is the development of the iCab platforms, which is an abbreviation for "Intelligent Campus Automobile". The platforms are two electric golf-carts that were modified mechanically, electronically and electrically towards the goal of automated driving. Each iCab was equipped with several on-board embedded computers, perception sensors and auxiliary devices, in order to execute the necessary actions for self-driving. Moreover, the platforms are capable of several Vehicle-to-Everything (V2X) communication schemes, applying three layers of control, utilizing cooperation architecture for platooning, executing localization systems, mapping systems, perception systems, and finally several planning systems. Hundreds of experiments were carried-out for the validation of each system in the iCab platform. Results proved the functionality of the platform to self-drive from one point to another with minimal human intervention. Los avances tecnológicos en Sistemas Inteligentes de Transporte (ITS) han crecido de forma exponencial durante el último siglo. El objetivo de estos avances es el de proveer de sistemas innovadores e inteligentes para ser aplicados a los diferentes medios de transporte, con el fin de conseguir un transporte mas eficiente, seguro, coordinado e inteligente. El foco de los ITS se divide principalmente en dos categorías; la primera es la mejora de los componentes ya existentes en las redes de transporte, mientras que la segunda es la de desarrollar vehículos inteligentes que hagan más fácil y eficiente el transporte. Diferentes esfuerzos de investigación se han llevado a cabo con el fin de solucionar los numerosos aspectos asociados con la conducción autónoma. Esta tesis propone una solución para la cooperación y coordinación de múltiples vehículos. Para ello, en primer lugar se desarrolló un simulador (3DCoAutoSim) de conducción basado en el motor de juegos Unity, conectado al framework Robot Operating System (ROS) y al simulador Simulation of Urban Mobility (SUMO). 3DCoAutoSim ha sido probado en diferentes condiciones y circunstancias, para posteriormente validarlo con resultados a través de varios experimentos reales controlados. Los resultados obtenidos mostraron la eficiencia del simulador para manejar diferentes situaciones, emulando los vehículos en el mundo real. En segundo lugar, se desarrolló la plataforma de investigación Intelligent Campus Automobile (iCab), que consiste en dos carritos eléctricos de golf, que fueron modificados eléctrica, mecánica y electrónicamente para darle capacidades autónomas. Cada iCab se equipó con diferentes computadoras embebidas, sensores de percepción y unidades auxiliares, con la finalidad de transformarlos en vehículos autónomos. Además, se les han dado capacidad de comunicación multimodal (V2X), se les han aplicado tres capas de control, incorporando una arquitectura de cooperación para operación en modo tren, diferentes esquemas de localización, mapeado, percepción y planificación de rutas. Innumerables experimentos han sido realizados para validar cada uno de los diferentes sistemas incorporados. Los resultados prueban la funcionalidad de esta plataforma para realizar conducción autónoma y cooperativa con mínima intervención humana. Programa Oficial de Doctorado en Ingeniería Eléctrica, Electrónica y Automática Presidente: Francisco Javier Otamendi Fernández de la Puebla.- Secretario: Hanno Hildmann.- Vocal: Pietro Cerri

Abstract

Unmanned Aircraft Systems (UAS) are currently being used primarily for military applications, but with the evolution of avionics technology, a huge market in civil applications is emerging. However, most civil applications require UAS to access non-segregated airspace. Current use limitations of non-segregated airspace make it extremely difficult to extensively evaluate operational concepts and mission profiles. Using real flights to test the complete UAS mission infrastructure involves costs and risks. Therefore, simulators must be used prior to real flight campaigns to test and validate UAS components and must take into account all the actors involved in the non-segregated airspace. This paper describes the development of a Software-in-the-Loop simulator called ISIS+ to evaluate the automated operations of UAS in non-segregated airspace and to test new software components of the UAS with other avionics components. The ISIS+ simulator provides a realistic simulation environment in which the UAS software components can be developed under real air traffic scenarios while taking into account all the UAS's peculiarities. The UAS is integrated with eDEP, an air traffic simulation environment, in order to explore the UAS behavior, conflicting traffic and air traffic controllers' requests with the airspace actors. The integration is carried out using ADS-B messages and considers the UAS as an active actor in the networked environment to simulate future SESAR and NextGen scenarios. Peer Reviewed

Abstract

One of the most difficult and expensive tasks in making noise pollution maps is the collection and processing of the data needed to create acoustic models. In the case of road traffic noise maps, obtaining speed data for light and heavy vehicles a problem that has usually been avoided by using a road's speed limit or by making assumptions based on experience from similar road types. Here global positioning systems-based techniques are applied for acquiring vehicle speed data and adapted to fulfill the requirements of noise prediction models. © 2009 Elsevier Ltd. All rights reserved.

Abstract

eer-reviewed Unmanned Aerial Vehicles (UAVs), or drones, are increasingly expected to operate in spaces populated by humans while avoiding injury to people or damaging property. However, incidents and accidents can, and increasingly do, happen. Traditional investigations of aircraft incidents require on-board ight data recorders (FDRs); however, these physical FDRs only work if the drone can be recovered. A further complication is that physical FDRs are too heavy to mount on light drones, hence not suitable for forensic digital investigations of drone ights. In this paper, we propose a self-adaptive software architecture, LiveBox, to make drones both forensic-ready and regulation compliant. We studied the feasibility of using distributed technologies for implementing the LiveBox reference architecture. In particular, we found that updates and queries of drone ight data and constraints can be treated as transactions using decentralised ledger technology (DLT), rather than a generic time-series database, to satisfy forensic tamper-proof requirements. However, DLTs such as Ethereum, have limits on throughput (i.e. transactions-per-second), making it harder to achieve regulation-compliance at runtime. To overcome this limitation, we present a self-adaptive reporting algorithm to dynamically reduce the precision of ight data without sacri cing the accuracy of runtime veri cation. Using a real-life scenario of drone delivery, we show that our proposed algorithm achieves a 46% reduction in bandwidth without losing accuracy in satisfying both tamper-proof and regulation-compliant requirements.