A Rule-Based Motion Planning for Crowd Simulation

Safe and adaptable motion planning for autonomous vehicles remains an open problem in urban environments, where the variability of situations and behaviors may become intractable using rule-based approaches. This work proposes a use-case-independent motion planning algorithm that generates a set of possible trajectories and selects the best of them according to a merit function that combines longitudinal comfort, lateral comfort, safety and utility criteria. The system was tested in urban scenarios on simulated and real environments, and the results show that different driving styles can be achieved according to the priorities set in the merit function, always meeting safety and comfort parameters imposed by design.

Download Full-text

Dynamic Motion Planning for Autonomous Wheeled Robot using Minimum Fuzzy Rule based Controller with Avoidance of Moving Obstacles

International Journal of Innovative Technology and Exploring Engineering - Special Issue ◽

10.35940/ijitee.a6114.119119 ◽

2019 ◽

Vol 9 (1) ◽

pp. 4192-4198

Keyword(s):

Numerical Simulation ◽

Motion Planning ◽

Fuzzy Rule ◽

Rule Based ◽

Differential Drive ◽

Dynamic Motion ◽

Sensor Actuator ◽

Moving Obstacles ◽

Wheeled Robot ◽

Dynamic Motion Planning

In this article, the Minimum Fuzzy Rule-Based (MFRB) sensor-actuator controller has designed for dynamic motion planning of a differential drive wheeled robot among the moving, non-moving obstacles and goal in two-dimensional environments. The ring of ultrasonic sensors and infrared sensors have been attached on the front side, left side, and right side of the wheeled robot, which detects the moving obstacles, as well as non-moving obstacles in any environment. This proposed MFRB sensor-actuator controller helps the wheeled robot to move safely in a different scenario. The onboard sensor interpretation data are fed as input to the MFRB controller, and the MFRB controller provides the Pulse Width Modulation (PWM) based wheel velocity commands to both the left and right motors of a wheeled robot. In the numerical simulation and experiment, we have taken one condition that the speed of wheels of the differential drive wheeled robot is at least more than or equal to the rate of the moving obstacles and the moving goal. The numerical simulations are performed through a MATLAB graphical user interface (GUI), and we have used the differential drive wheeled robot to conduct experiments. The presented numerical simulation and experimental results illustrate that the MFRB controller operated wheeled robot has successfully avoided the stationary and nonstationary obstacles in various scenarios.

Download Full-text

Using Conventional Articulation Tests With Highly Unintelligible Children

Language Speech and Hearing Services in Schools ◽

10.1044/0161-1461.2301.52 ◽

1992 ◽

Vol 23 (1) ◽

pp. 52-60 ◽

Cited By ~ 1

Author(s):

Pamela G. Garn-Nunn ◽

Vicki Martin

Keyword(s):

Test Results ◽

Phonological Processes ◽

Rule Based ◽

Severity Level ◽

Error Sensitivity ◽

Conventional Tests ◽

Severity Levels ◽

Conventional Test ◽

Impaired Children

This study explored whether or not standard administration and scoring of conventional articulation tests accurately identified children as phonologically disordered and whether or not information from these tests established severity level and programming needs. Results of standard scoring procedures from the Assessment of Phonological Processes-Revised, the Goldman-Fristoe Test of Articulation, the Photo Articulation Test, and the Weiss Comprehensive Articulation Test were compared for 20 phonologically impaired children. All tests identified the children as phonologically delayed/disordered, but the conventional tests failed to clearly and consistently differentiate varying severity levels. Conventional test results also showed limitations in error sensitivity, ease of computation for scoring procedures, and implications for remediation programming. The use of some type of rule-based analysis for phonologically impaired children is highly recommended.

Download Full-text

Haunted by a Doppelgänger

Experimental Psychology (formerly Zeitschrift für Experimentelle Psychologie) ◽

10.1027/1618-3169/a000221 ◽

2014 ◽

Vol 61 (1) ◽

pp. 12-22 ◽

Cited By ~ 11

Author(s):

Bettina von Helversen ◽

Stefan M. Herzog ◽

Jörg Rieskamp

Keyword(s):

Relevant Information ◽

Psychological Research ◽

Decision Makers ◽

Human Judgment ◽

Rule Based ◽

New Employees ◽

High Performing ◽

Facial Similarity ◽

Similarity Effect ◽

Judgment Strategy

Judging other people is a common and important task. Every day professionals make decisions that affect the lives of other people when they diagnose medical conditions, grant parole, or hire new employees. To prevent discrimination, professional standards require that decision makers render accurate and unbiased judgments solely based on relevant information. Facial similarity to previously encountered persons can be a potential source of bias. Psychological research suggests that people only rely on similarity-based judgment strategies if the provided information does not allow them to make accurate rule-based judgments. Our study shows, however, that facial similarity to previously encountered persons influences judgment even in situations in which relevant information is available for making accurate rule-based judgments and where similarity is irrelevant for the task and relying on similarity is detrimental. In two experiments in an employment context we show that applicants who looked similar to high-performing former employees were judged as more suitable than applicants who looked similar to low-performing former employees. This similarity effect was found despite the fact that the participants used the relevant résumé information about the applicants by following a rule-based judgment strategy. These findings suggest that similarity-based and rule-based processes simultaneously underlie human judgment.

Download Full-text