102 research outputs found
Real-time decision making by driverless city vehicles : a discrete event driven approach
No full textThis thesis addresses the topic of real-time decision making by driverless (autonomous) city vehicles, i.e. their ability to make appropriate driving decisions in non-simplified urban traffic conditions. After addressing the state of research, and explaining the research question, the thesis presents solutions for the subcomponents which are relevant for decision making with respect to information input (World Model), information output (Driving Maneuvers), and the real-time decision making process. TheWorld Model is a software component developed to fulfill the purpose of collecting information from perception and communication subsystems, maintaining an up-to-date view of the vehicle’s environment, and providing the required input information to the Real-Time Decision Making subsystem in a well-defined, and structured way. The real-time decision making process consists of two consecutive stages. While the first decision making stage uses a Petri net to model the safetycritical selection of feasible driving maneuvers, the second stage uses Multiple Criteria Decision Making (MCDM) methods to select the most appropriate driving maneuver, focusing on fulfilling objectives related to efficiency and comfort. The complex task of autonomous driving is subdivided into subtasks, called driving maneuvers, which represent the output (i.e. decision alternatives) of the real-time decision making process. Driving maneuvers are considered as implementations of closed-loop control algorithms, each capable of maneuvering the autonomous vehicle in a specific traffic situation. Experimental tests in both a 3D simulation and real-world experiments attest that the developed approach is suitable to deal with the complexity of real-world urban traffic situations
O complexo monumental de criação porqueira de Salvaterra do Extremo: Estudo de caso de uma furda em falsa cúpula
No full textImpulsionado pelo reduzido número de publicações existentes sobre o sistema de falsa cúpula, e pela falta de referências ao património abobadado de matriz rural da região montanheira da Beira Baixa, este estudo propõe um reconhecimento desse legado morfológico, apoiado em observações convencionais “in loco”, e, em específico, no levantamento de uma furda em falsa cúpula.
Assim, apresenta-se o sistema construtivo considerando as suas características técnicas, contexto, tipos de construção mais recorrentes em que surge e origens aproximadas. A natureza transfronteiriça da falsa cúpula determinou a elaboração de uma síntese da sua ocorrência à escala terrestre, que se estende, por último, a Portugal. Aí, incidiu-se na aldeia raiana de Salvaterra do Extremo, onde o relevante conjunto de estruturas em falsa cúpula — 127 — se liga com um regime agro-pastoril consolidado no tempo.
Enfim, a investigação coloca em perspetiva uma furda e reflete sobre a importância que a proteção deste património constitui para a valorização da região.info:eu-repo/semantics/publishedVersio
Penerapan Pembelajaran Kooperatif Model Think Pair Share (TPS) Untuk Meningkatkan Hasil Belajar Geografi Kelas VIII A SMPN 24 Malang
No full textABSTRAK Furda, Muchlisotul. 2011. Penerapan Pembelajaran Kooperatif Model Think Pair Share (TPS) Untuk Meningkatkan Hasil Belajar Geografi Kelas VIII A SMPN 24 Malang. Skripsi, Jurusan Geografi FIS Universitas Negeri Malang. Pembimbing: (I) Prof. Dr. H. Ach. Fatchan, M.Pd, M.Si, (II) Drs. M. Yusuf Idris. Kata Kunci: pembelajaran, think pair share, dan hasil belajar. Demi tercapainya peningkatan kualitas pembelajaran, salah satu upaya pemerintah menetapkan standar ketuntasan minimal yang harus dicapai dalam pembelajaran, baik standar ketuntasan minimal untuk keterampilan proses maupun hasil belajar yang diperoleh siswa dalam pembelajaran. Berdasarkan hasil observasi awal pada bulan Agustus 2010 dalam proses pembelajaran geografi di kelas VIII A SMPN 24 Malang tahun ajaran 2010/2011 terdapat beberapa kelemahan yang mempengaruhi hasil belajar siswa yaitu: 1) Siswa tampak kurang berminat terhadap cara guru dalam menyampaikan materi geografi, dalam pembelajaran ada 3 siswa yang sering mengantuk di kelas; 2) Hasil belajar siswa masih belum tuntas sekitar 77,26% atau dari 44 siswa hanya ada 10 siswa yang memperoleh nilai lebih besar atau sama dengan 70 pada ulangan harian pertama; 3) Siswa masih tergantung pada lembar kerja siswa; 4) Kurangnya media pembelajaran yang mendukung pembelajaran geografi. Tujuan penelitian ini adalah untuk meningkatkan hasil belajar Geografi dengan menerapkan pembelajaran kooperatif model TPS. Penelitian ini merupakan penelitian tindakan kelas yang terdiri dari tahap perencanaan, pelaksanaan, observasi, dan refleksi. Penelitian ini terdiri dari 2 siklus pembelajaran yang masing-masing siklus terdiri dari 1 kali pertemuan. Penelitian ini dilakukan di kelas VIII A SMPN 24 Malang pada bulan Desember 2010. Teknik analisis data yang digunakan dalam penelitian ini adalah deskriptif kuantitatif, dengan menggunakan tabel persentase dan gainscore. Hasil penelitian ini menunjukkan bahwa hasil belajar Geografi siswa mengalami peningkatan. Peningkatan hasil belajar dari pra tindakan, siklus I ke siklus II. Pada pra tindakan rata-rata nilai kelas 58,7 dengan persentase 18,81%. Siklus I mengalami peningkatan adalah 65,8, dengan persentase keberhasilan tindakan sebesar 45,46%. Siklus II diperoleh rata-rata hasil belajar geografi siswa sebesar 71,97, dengan persentase keberhasilan tindakan sebesar 88,64%. Berdasarkan hasil penelitian tersebut dapat disimpulkan bahwa telah terjadi peningkatan hasil belajar Geografi setelah diterapkan pembelajaran kooperatif model TPS. Disarankan kepada para guru Geografi untuk mencoba menerapkan model TPS agar kualitas pembelajaran Geografi semakin meningkat. Kepada pihak sekolah disarankan agar memberikan fasilitas yang menunjang keberhasilan penerapan model tersebut di sekolah, seperti media belajar geografi yang memadai dan menerapkan beberapa metode pembelajaran kooperatif yang dapat meningkatkan hasil belajar dan keaktifan siswa.
Növény eredetű élelmiszerek rostanyagának összetevői
No full textA szerzők az összes diétásrost-tartalom jellemzésére a FURDA-módszert alkalmazták. Ezenkívül mérték a savdetergensrost és neutrális-detergens-rosttartalmat. A FURDA-módszerrel nyert értékek jobban megközelítik a nemzetközi szinten elfogadott Southgate eredményeit a többi eljárásnál. A neutrális-detergens-rostés a savdetergens-rosttartalomra mért értékek az oldható rosttartalom elvesztése miatt alacsonyabbak a FURDA-módszerrel kapott értékeknél. Furda method was applied to the characterization of the whole dietetic fibre content. Beside this the acid-detergent and neutral-detergent fibre contents were measured too. The values got by Furda method approximate that of the internationally accepted Southgate procedure better, than the results of other methods. Because of the loss of soluble fibre the values measured for neutral-detergent and acid-detergent fibre contents are lower than the results got by furda method. Verfasser haben zur Charakterisierung des Gesamt — Diätrohfaser — Gehaltes die FURDA-Methode eingesetzt. Ausserdem wurde der Gehalt an Säuredetergent-Rohfaser und Neutraldetergent-Rohfaser bestimmt. Die mit der FURDAMethode erhaltenen Werte nähern die mit dem international anerkannten Southgate-Verfahren erhaltenen Ergebnisse besser als im Falle anderer Methoden. Die Werte für Neutraldetergent- und Säuredetergent — Rohfaser — Gehalt sind infolge des Verlustes an Gehalt von löslichem Rohfaser niedriger als die mit der FURDÁMethode erhaltenen Werte
An Object-Oriented Design of a World Model for Autonomous City Vehicles
No full textAbstract-This paper presents an object-oriented world model for the road traffic environment of driverless city vehicles. The developed World Model is a software component within the driverless vehicle's control system, which represents the vehicle's view of its road environment. Regardless whether the information is a priori known, obtained through on-board sensors, or through communication, theWorld Model stores and updates information in real-time, notifies the decision making subsystem about relevant events, and provides access to its stored information. The design is based on software design patterns, and its application programming interface provides both asynchronous and synchronous access to its information. Experimental results of both a 3D simulation and real-world experiments show that the approach is applicable and real-time capable.Griffith Sciences, Griffith School of EngineeringFull Tex
Multiple Criteria-Based Real-Time Decision Making by Autonomous City Vehicles
No full textThis paper addresses the topic of real-time decision making for autonomous city vehicles, i.e. the autonomous vehicles' ability to make appropriate driving decisions in city road traffic situations. After decomposing the problem into two consecutive decision making stages, and giving a short overview about previous work, the paper explains how Multiple Criteria Decision Making (MCDM) can be used in the process of selecting the most appropriate driving maneuver.Griffith Sciences, Griffith School of EngineeringFull Tex
Pipeline renewal decision support : a case study using LinEAR in a water pipeline network
No full textThis paper presents a case study for the application of a Linear Engineering Asset Renewal decision support software tool (LinEAR) at a water distribution network in Australia. This case study examines how the LinEAR can assist water utilities to minimise their total pipeline management cost, to make a long-term budget based on mathematically predicted expenditure, and to present calculated evidence for supporting their expenditure requirements. The outcomes from the study on pipeline renewal decision support demonstrate that LinEAR can help water utilities to improve the decision process and save renewal costs over a long-term by providing an optimum renewal schedules. This software can help organisation to accumulate technical knowledge and prediction future impact of the decision using what-if analysis
Re-engineering data-centric information systems for the Cloud – A method and architectural patterns promoting multi-tenancy
No full textEnterprise applications are data-centric information systems that are being increasingly deployed as <i>Software-as-a-Service (SaaS)</i> Cloud offerings. Such service-oriented enterprise applications allow multiple tenants (i.e., groups of service consumers) to share the computational and storage capabilities of a single Cloud application instance. Compared to a more traditional single-tenant application deployment model, a multi-tenant SaaS architecture lowers both deployment and maintenance costs. These cost reductions motivate architects to re-engineer existing enterprise applications to support multi-tenancy at the application level. However, in order to preserve data integrity and data confidentiality, the re-engineering process must guarantee that different tenants allocated to the same application instance cannot access one another’s data, including both persistent values stored in databases and transient values created during calculations.\ud
This chapter presents a method and a set of architectural patterns for systematically re-engineering data-sensitive enterprise applications into secure multi- tenant software services that can be deployed to public and private Cloud offerings seamlessly. Architectural refactoring is introduced as a novel re- engineering practice and the necessary steps in multi-tenant refactoring are described from planning to execution to validation (including testing and code reviews). The method and patterns are validated in a fictitious, but realistic and representative case study that was distilled from real-world requirements and application architectures
Real-Time Decision Making for Autonomous City Vehicles
No full textThis paper addresses the topic of real-time decision making for autonomous city vehicles, i.e. their ability to make appropriate driving decisions in any city traffic situation. After explaining the research question and addressing the state of research, the paper presents the vehicle decision making & control system architecture, explains the subcomponents which are relevant for decision making (World Model and Driving Maneuver subsystem), and presents the decision making process, which consists of two consecutive stages. While the first decision making stage uses a Petri net to model the safety-critical selection of feasible driving maneuvers, the second stage uses Multiple Criteria Decision Making (MCDM) methods to select the most appropriate driving maneuver, focusing on fulfilling objectives related to efficiency and comfort. Experimental tests in both a 3D simulation and realworld experiments attest that the developed approach is suitable to deal with the complexity of real-world city traffic situations.Griffith Sciences, Griffith School of EngineeringNo Full Tex
Towards increased road safety: Real-time decision making for driverless city vehicles
No full textAbstract—This work elaborates on the topic of decision making for driverless city vehicles, particularly focusing on the aspects on how to develop a reliable approach which meets the requirements of safe city traffic. Decision making in this context refers to the problem of identifying the most appropriate driving maneuver to be performed in a given traffic situation. The overall decision making problem is decomposed into two consecutive stages. The first stage is safety-crucial, representing the decision regarding the set of feasible driving maneuvers. The second stage represents the decision regarding the most appropriate driving maneuver from the set of feasible ones. The developed decision making approach has been implemented in C++ and initially tested in a 3D simula-tion environment and, thereafter, in real-world experiments. The real-world experiments also included the integration of wireless communication between vehicles. Index Terms—driverless city vehicles, decision making I
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