A Real-Time-capable Hard- and Software Architecture for Joint Image and Knowledge Processing in Cognitive Automobiles The section Software Architecture includes the KogMo-RTDB, other sections describe the specified real-time system (hard- and software of the reference platform) … Interfaces for Integrating Cognitive Functions into Intelligent Vehicles The section Simulation and Logging is KogMo-RTDB specific, other sections provide the larger context for its application … Design and Capabilities of the Munich Cognitive Automobile This shows the application of the KogMo-RTDB and its architecture within a cognitive automobile (including pictures and GUI screenshots) … Matthias Goebl. Eine realzeitfähige Architektur zur Integration kognitiver Funktionen. Dissertation, Lehrstuhl für Realzeit-Computersysteme, Technische Universität München, 2009. (urn:nbn:de:bvb:91-diss-20090731-795552-1-3) Available as printed …

The contribution presents a novel approach to the dete ction and tracking of lanes based on lidar data. Therefore, we use the distance and reflectivity data coming from a one-dimensional sensor. After having detected the lane through a temporal fusion algorithm, we register the l idar data in a world-fixed coordinate system. To this end, we also incorporate the data coming from an inertial measurement unit and a differential global positioning system. After that stage, an original image of the roa d can be inferred. Based on this data view, we are able to track the lane either with a Kalman filter or by using a polynomial approximation for the underlying lane model.

Zusammenfassung In diesem Beitrag wird eine neue Methode erarbeitet, um Objekte im Kontext von Fahrerassistenzsystemen und autonomen Automobilen zu erkennen und robust zu verfolgen. Als umweltabbildende Sensoren dienen zwei Lidarscanner, welche das Fahrzeugumfeld zyklisch abtasten. Zusätzlich werden diese Daten mit den eigenen Positionsdaten fusioniert, um sie in ein weltfestes Koordinatensystem zu überführen. Diese Lidardaten werden anschließend einem Partikelfilter zugeführt. Innerhalb des Filterzyklus dienen die Lidarpunkte zur Speisung der Beobachtungsfunktion und bewerten somit die einzelnen Partikel. Eine darauf folgende Ballungsanalyse extrahiert die geschätzten Systemzustände der verfolgten Objekte.

The contribution introduces a novel approach for tracking objects based on two-dimensional lidar data. As a central tracking engine, we employ a particle-filter-based solution which is capable of modelling non-linear dynamic processes as well as non-Gaussian noise distributions for the underlying process and sensor as well. In contrast to other lidar-based tracking approaches, no newly detected objects have to be associated to already known objects in an explicit manner. Since our weighting function is multi-modal, the association is done by the filter itself.

The paper presents a new lidar-based approach to object tracking. To this end, range data are recorded by two vehicle-born lidar scanners and registered in a common coordinate system. In contrary to common approaches, particle filters are employed to track the objects. This ensures no linearization of the underlying non-linear process model and, thus, a decreasing estimation error. For the object association, a new method is proposed that considers the knowledge about the object shape as well. Based on a statistical formulation, this ensures a robust object assignment even in ambiguous traffic scenes.

Zusammenfassung: Die folgende Arbeit gibt einen Uberblick uber den Aufbau des kognitiven Automobils des Sonderforschungsbereiches TR/28 in Munchen. Ausgehend von den Sensoren zur Wahrnehmung des Fahrzeugumfeldes werden die Methoden und Verfahren zur Strasenund Objektdetektion aufgezeigt. Dabei wird die multifokale Kameraplattform mit Blickrichtungssteuerung durch den Einsatz zweier Lidarsensoren unterstutzt. Die Objekthypothesen der beiden Systeme werden anschliesend durch einen propabilistischen Ansatz fusioniert. Damit kann ein Lagebild erstellt werden, auf dessen Grundlage die Pfadplanung Entscheidungen treffen kann. Um einen sicheren autonomen Betrieb zu gewahrleisten, wurde ein strukturiertes Sicherheitskonzept und eine zusatzliche Verifikationsstufe zu Grunde gelegt. Die Bildung von kooperativen Gruppen mehrerer kognitiver Fahrzeuge wird durch ein Kommunikationsstufe ermoglicht.

This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that successfully entered the finals of the 2007 DARPA Urban Challenge competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algorithms. Environmental perception mainly relies on a recent laser scanner that delivers both range and reflectivity measurements. Whereas range measurements are used to provide three-dimensional scene geometry, measuring reflectivity allows for robust lane marker detection. Mission and maneuver planning is conducted using a hierarchical state machine that generates behavior in accordance with California traffic laws. We conclude with a report of the results achieved during the competition. © 2008 Wiley Periodicals, Inc.

This paper presents the design of the cognitive automobile in Munich. The focus of the capabilities shown here is the navigation on highways and rural roads. The emphasis on higher speed requires early detection of far field objects, so a multi focal active vision with gaze control is essential. For increased robustness lidar range sensors are combined with vision using an object fusion approach. An elaborate safety concept and a verification stage ensure a safe behavior of the vehicle in all situations. A communication system enables the vehicle to perform cooperative perception and action together with similar intelligent vehicles.

Heat production of male frogs, Rana temporaria, was measured in a microcalorimeter through which a continuous flow of gas was passed in order to generate constant normoxic, hypoxic or anoxic conditions. The normoxic heat flow was 163 ± 37 μ Wg body weight in frogs that had not been treated with curare and 149 ± 69 μ Wg in animals immobilized with curare. During anoxia, frogs, whether curarized or not, decreased their heat production to about 25% of the respective normoxic control. In graded hypoxia (10% to 3% O2), curarized frogs decreased their heat rate according to the grade of hypoxia they were subjected to.

Glycolytic flux in skeletal muscle is controlled by 6-phosphofructokinase but how this is achieved is controversial. Brief exercise (swimming) in frogs caused a dramatic increase in the phosphofructokinase activator, fructose 2,6-bisphosphate, in working muscle. The kinetics of phosphofructokinase suggest that in resting muscle, the enzyme is inhibited by ATP plus citrate and that the increase in fructose 2,6-bisphosphate is part of the mechanism to activate phosphofructokinase when exercise begins. When exercise was sustained, fructose 2,6-bisphosphate in muscle was decreased as was the rate of lactate accumulation. Glycolytic flux and the content of fructose 2,6-bisphosphate appear to be closely correlated in working frog muscle in vivo.