Validation of Vehicle Driving Simulator from Perspective of Velocity and Trajectory Based Driving Behavior under Curve Conditions

With their advantages of high experimental safety, convenient setting of scenes, and easy extraction of control parameters, driving simulators play an increasingly important role in scientific research, such as in road traffic environment safety evaluation and driving behavior characteristics research. Meanwhile, the demand for the validation of driving simulators is increasing as its applications are promoted. In order to validate a driving simulator in a complex environment, curve road conditions with different radii are considered as experimental evaluation scenarios. To attain this, this paper analyzes the reliability and accuracy of the experimental vehicle speed of a driving simulator. Then, qualitative and quantitative analysis of the lateral deviation of the vehicle trajectory is carried out, applying the cosine similarity method. Furthermore, a data-driven method was adopted which takes the longitudinal displacement, lateral displacement, vehicle speed and steering wheel angle of the vehicle as inputs and the lateral offset as the output. Thus, a curve trajectory planning model, a more comprehensive and human-like operation, is established. Based on directional long short-term memory (Bi–LSTM) and a recurrent neural network (RNN), a multiple Bi–LSTM (Mul–Bi–LSTM) is proposed. The prediction performance of LSTM, MLP model and Mul–Bi–LSTM are compared in detail on the validation set and testing set. The results show that the Mul–Bi–LSTM model can generate a trajectory which is very similar to the driver’s curve driving and have a preferable generalization performance. Therefore, this method can solve problems which cannot be realized in real complex scenes in the simulator validation. Selecting the trajectory as the validation parameter can more comprehensively and intuitively reflect the simulator’s curve driving state. Using a speed model and trajectory model instead of a real car experiment can improve the efficiency of simulator validation and lay a foundation for the standardization of simulator validation.

3D Exoscope-Assisted Microvascular Anastomosis: An Evaluation on Latex Vessel Models

Background. Over the last few years, advances in technologies and digital imaging have led to the introduction of systems that enable a new approach to microsurgery and supermicrosurgery. The exoscope is a new magnification system that provides a 3D image of the surgical field: microsurgical procedures can be performed with the aid of this instrument. Here, we describe our preliminary experience with a high-definition 3D exoscope (VITOM®, Karl Storz, Tuttlingen, Germany), evaluating the characteristics of the instrument, and also its use as a magnification device for microanastomosis training. Methods. Six microsurgeons with various levels of experience were asked to perform three end-to-end anastomoses and two end-to-side anastomoses on latex vessel models, using, as a magnification system, the VITOM® 3D 4K exoscope. None of the surgeons involved had previous experience with the exoscope, with robotic surgery, with endoscopic surgery, nor with training simulators. Results. The results of the reported evaluation of the tool’s qualities, (VITOM Quality Assessment Tool) included: a good focusing of the surgical field; high image quality; strong luminance; good magnification; clear stereoscopy; and excellent freedom of movement. The exoscope proved to be user-friendly. A constant reduction in the time needed to perform the microsurgical anastomosis at each exercise was recorded. Among other advantages were the easy switching from the magnified image to the macroscopic view, superior ergonomics allowing a relaxed posture while performing the anastomosis, adequate space, and a convenient setting for the assistants to view the operating field. Conclusions. Our study showed that the exoscope VITOM 3D can be successfully used as a magnification tool for microsurgical anastomosis on synthetic vessels, and that it can also be helpful during training courses in microsurgery.

Scene Acquisition with Multiple 2D and 3D Optical Sensors: A PSO-Based Visibility Optimization

Designing an acquisition system for 2D or 3D information, based on the integration of data provided by different sensors is a task that requires a labor-intensive initial design phase. Indeed, the definition of the architecture of such acquisition systems needs to start from the identification of the position and orientation of the sensors observing the scene. Their placement is carefully studied to enhance the efficacy of the system. This often coincides with the need to maximize the surfaces observed by the sensors or some other metric. An automatic optimization procedure based on the Particle Swarm Optimization (PSO) algorithm, to seek the most convenient setting of multiple optical sensors observing a 3D scene, is proposed. The procedure has been developed to provide a fast and efficient tool for 2D and 3D data acquisition. Three different objective functions of general validity, to be used in future applications, are proposed and described in the text. Various filters are introduced to reduce computational times of the whole procedure. The method is capable of handling occlusions from undesired obstacle in the scene. Finally, the entire method is discussed with reference to 1) the development of a body scanner for the arm-wrist-hand district and 2) the acquisition of an internal environment as case studies.

A Development of Detection System on Acid Value of Lubricating Oil Based on Impedance Method

Acid value is one of the most important indexes in the detection of lubricating oil, the testing of which has been widely used in the corrosive and quality characterization of petroleum products. So far there is no widely adaptive method and instrument faced with acid value. By the use of impedance method, this paper has used AD5933 to establish a detection system on acid value and achieve detection without chemical and judgment. Convenient setting of parameters and processing and storage of data are realized by the virtual instrument technology. Based on serial communication and virtual I2C communication, timely two-way traffic of statistics is achieved. The checkout of the system is accomplished by the known impedance. According to GB on the test of acid value, through the preparation of oil samples, the feasibility and operability of the system are justified and the best test conditions are determined.

EBENEZER SCROOGE – MAN OF PRINCIPLE

‘Bah! Humbug!’ It's the most famous line in Charles Dickens' A Christmas Carol, but is it the most important? Surely not, for this Christmas classic is not centrally about Christmas, but about a man, the holiday being the convenient setting for his transformation. What kind of transformation? Why a moral transformation of course, because the man, Ebenezer Scrooge, through multiple encounters with the spirit world, becomes a good man by the end of the story. But where does this story begin, what are we to think of Scrooge at the outset and how is his transformation accomplished? These are the questions I take up here, for while Scrooge is tightfisted, covetous and hard-hearted, he is still a man of principle. Judged by the standards of some views on ethics, Scrooge isn't actually all that bad. How can that be? Let's start with a quick overview of two centuries of ethical theory.