iLDM: An Interoperable Graph-Based Local Dynamic Map

Local dynamic map (LDM) is a key component in the future of autonomous and connected vehicles. An LDM serves as a local database with the necessary tools to have a common reference system for both static data (i.e., map information) and dynamic data (vehicles, pedestrians, etc.). The LDM should have a common and well-defined input system in order to be interoperable across multiple data sources such as sensor detections or V2X communications. In this work, we present an interoperable graph-based LDM (iLDM) using Neo4j as our database engine and OpenLABEL as a common data format. An analysis on data insertion and querying time to the iLDM is reported, including a vehicle discovery service function in order to test the capabilities of our work and a comparative analysis with other LDM implementations showing that our proposed iLDM outperformed in several relevant features, furthering its practical utilisation in advanced driver assistance system development.

Mathematical Modelling in Analytical Chromatography: Problems and Solutions

Based on an analysis of the results of original research performed in the Laboratory of Sorption Methods of the Vernadsky Institute of Geochemistry and Analytical Chemistry of the Russian Academy of Sciences within the project “Mathematical Chromatograph,” the review covers the aim and strategy of the imitation modeling of high-performance chromatography; associated problems of the theory of intermolecular interactions; classifications of polar stationary phases by their selectivity; descriptions of the kinetics and dynamics of sorption processes, choice of the composition of multicomponent mobile phases in HPLC and ion chromatography using the method of the dynamic map of a chromatographic system; and the development of alternating gradient modes using a mathematical experiment.

Plant biodiversity hotspots mapping and prioritization in the Bulgarian floristic region Eastern Balkan Mountains

The main goal of the present study was to create a dynamic map of plant biodiversity hotspots of the Bulgarian floristic region Eastern Balkan Mountains. A GIS model, as well as a weighted value scheme for scoring each area, were created in order to identify and to prioritize the hotspots. A total number of defined hot spots of phytodiversity was 34. They were categorized into five classes, based on the cumulative weighted value scheme, and were indicated on the map using color scale. The territories into category I predominated, contrary to preceding investigations of the Black Sea coast and northeastern Bulgaria where category V predominated. In addition, an attempt to refine the borders of the floristic region was made.

Complex Investigations of a Piecewise-Smooth Remanufacturing Bertrand Duopoly Game

This paper considers a Bertrand competition between two firms whose decision variables are derived from a quadratic utility function. The first firm produces new products with their own prices while the second firm re-manufactures returned products and sells them in the market at prices that may be less than or equal to the price of the first firm. Dynamically, this competition is constructed on which boundedly rational firms apply a gradient adjustment mechanism to update their prices in each period. According to this mechanism and the nature of the competition, a two-dimensional piecewise smooth discrete dynamic map was constructed in order to study the complex dynamic characteristics of the game. The phase plane of the map was divided into two different regions, separated by border curve. The equilibrium points of the map, in each region on where they are defined, were calculated, and their stability conditions were investigated. Furthermore, we conducted a global analysis to investigate the complex structure of the map, such as closed invariant curves, periodic cycles, and chaotic attractors and their basins, which cause qualitative changes as some parameters are allowed to vary.

An Algorithm for Local Dynamic Map Generation for Safe UAV Navigation

For safe UAV navigation and to avoid collision, it is essential to have accurate and real-time perception of the environment surrounding the UAV, such as free area detection and recognition of dynamic and static obstacles. The perception system of the UAV needs to recognize information such as the position and velocity of all objects in the surrounding local area regardless of the type of object. At the same time, a probability based representation taking into account the noise of the sensor is also essential. In addition, a software design with efficient memory usage and operation time is required in consideration of the hardware limitations of the UAVs. In this paper, we propose a 3D Local Dynamic Map (LDM) generation algorithm for a perception system for UAVs. The proposed LDM uses a circular buffer as a data structure to ensure low memory usage and fast operation speed. A probability based occupancy map is created using sensor data and the position and velocity of each object are calculated through clustering between grid voxels using the occupancy map and velocity estimation based on a particle filter. The objects are predicted using the position and velocity of each object and this is reflected in the occupancy map. This process is continuously repeated and the flying environment of the UAV can be expressed in a three-dimensional grid map and the state of each object. For the evaluation of the proposed LDM, we constructed simulation environments and the UAV for outdoor flying. As an evaluation factor, the occupancy grid is accuracy evaluated and the ground truth velocity and the estimated velocity are compared.

CIUDAD LIMPIA VALDIVIA: A MOBILE AND WEB BASED SMART SOLUTION BASED ON FOSS TECHNOLOGY TO SUPPORT MUNICIPAL AND HOUSEHOLD WASTE COLLECTION

Ciudad Limpia Valdivia is a Web and Mobile application which attempts to tackle some of the Municipality of Valdivia in Chile’s waste collection issues. It is based on Free and Open Source Software and it is currently in the last stage of prototyping. The tool is expected to improve the communication between the users and the service provider. It also has educational materials about waste management and other related environmental issues to guide the users to minimize the waste production and optimize the way it is handled before it is collected. The main features of the solution are: a dynamic map viewer showing the position of the Municipality’s waste collection trucks and estimated future trajectories, a form to report illegal dumping microsites, notifications from the Municipality about the status of the service, educational content and contact list of other independent initiatives related to waste collection. The potential impact of the tool was evaluated on the city’s test pilot sector by means of a neighbourhood survey. It showed that the solution might have a positive impact in the coordination in terms of the service operation. The estimation of the trucks’ future trajectory will be developed using machine learning or computational intelligence algorithms. The integration of FOSS technologies has been essential to address challenges found during development as well as to adapt the tool to new scenarios. The feedback from the Municipality and the community has proved to be very important to define a concrete solution.

3 Dimensional Dynamic Map on Buildings at University of Darussalam Gontor Based on Augmented Reality

Darussalam Gontor University (Unida Gontor) is a campus with a fairly rapid development of infrastructure. The paper-based building prototype design belonging to UNIDA Gontor is considered not able to visually represent the building that has been or will be built. This research aims to provide a prototype design update using more modern and dynamic technology that can be seen from all sides of the building and does not require physical storage, also can be used anytime and anywhere.The Application content is taken through the visual data collection stage in the form of detailed photos of buildings taken through cameras and drones. This media is based on Android which uses marker based augmented reality technology to implement 3-dimensional visualization of campus building objects, which are created through the steps of the waterfall model. The test is carried out in two stages, namely the suitability of the application with various android devices which shows compatibility with devices with a minimum size of 5 inches. The second test was conducted by distributing questionnaires to the staff of the facilities and infrastructure division of Unida Gontor with an average score of 90%, and the lecturers and multimedia student group 89.52%.