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Stanley: the Robot That Won the DARPA Grand Challenge
STANLEY Winning the DARPA Grand Challenge with an AI Robot_ Michael Montemerlo, Sebastian Thrun, Hendrik Dahlkamp, David Stavens Stanford AI Lab, Stanford University 353 Serra Mall Stanford, CA 94305-9010 fmmde,thrun,dahlkamp,[email protected] Sven Strohband Volkswagen of America, Inc. Electronics Research Laboratory 4009 Miranda Avenue, Suite 150 Palo Alto, California 94304 [email protected] http://www.cs.stanford.edu/people/dstavens/aaai06/montemerlo_etal_aaai06.pdf Stanley: The Robot that Won the DARPA Grand Challenge Sebastian Thrun, Mike Montemerlo, Hendrik Dahlkamp, David Stavens, Andrei Aron, James Diebel, Philip Fong, John Gale, Morgan Halpenny, Gabriel Hoffmann, Kenny Lau, Celia Oakley, Mark Palatucci, Vaughan Pratt, and Pascal Stang Stanford Artificial Intelligence Laboratory Stanford University Stanford, California 94305 http://robots.stanford.edu/papers/thrun.stanley05.pdf DARPA Grand Challenge: Final Part 1 Stanley from Stanford 10.54 https://www.youtube.com/watch?v=M2AcMnfzpNg Sebastian Thrun helped build Google's amazing driverless car, powered by a very personal quest to save lives and reduce traffic accidents. 4 minutes https://www.ted.com/talks/sebastian_thrun_google_s_driverless_car THE GREAT ROBOT RACE – documentary Published on Jan 21, 2016 DARPA Grand Challenge—a raucous race for robotic, driverless vehicles sponsored by the Pentagon, which awards a $2 million purse to the winning team. Armed with artificial intelligence, laser-guided vision, GPS navigation, and 3-D mapping systems, the contenders are some of the world's most advanced robots. Yet even their formidable technology and mechanical prowess may not be enough to overcome the grueling 130-mile course through Nevada's desert terrain. From concept to construction to the final competition, "The Great Robot Race" delivers the absorbing inside story of clever engineers and their unyielding drive to create a champion, capturing the only aerial footage that exists of the Grand Challenge. -
ACDIS Occasional Paper
ACDIS FFIRS:3 1996 OCCPAP ACDIS Library ACDIS Occasional Paper Collected papers of the Ford Foundation Interdisciplinary Research Seminar on Pathological States ISpring 1996 Research of the Program in Arms Control, Disarmament, and International Security University of Illinois at Urbana-Champaign December 1996 This publication is supported by a grant from the Ford Foundation and is produced by the Program m Arms Control Disarmament and International Security at the University of Illinois at Urbana Champaign The University of Illinois is an equal opportunity/ affirmative action institution ACDIS Publication Senes ACDIS Swords and Ploughshares is the quarterly bulletin of ACDIS and publishes scholarly articles for a general audience The ACDIS Occasional Paper series is the principle publication to circulate the research and analytical results of faculty and students associated with ACDIS Publications of ACDIS are available upon request Published 1996 by ACDIS//ACDIS FFIRS 3 1996 University of Illinois at Urbana-Champaign 359 Armory Building 505 E Armory Ave Champaign IL 61820 Program ßfia Asma O esssrelg KJ aamisawE^ «««fl ^sôÊKïÂîMïnsS Secasnsy Pathological States The Origins, Detection, and Treatment of Dysfunctional Societies Collected Papers of the Ford Foundation Interdisciplinary Research Seminar Spring 1996 Directed by Stephen Philip Cohen and Kathleen Cloud Program m Arms Control Disarmament and International Security University of Illinois at Urbana-Champaign 359 Armory Building 505 East Armory Avenue Champaign IL 61820 ACDIS Occasional -
USAF Counterproliferation Center CPC Outreach Journal #560
USAF COUNTERPROLIFERATION CENTER CPC OUTREACH JOURNAL Maxwell AFB, Alabama Issue No. 560, 12 March 2007 Articles & Other Documents: Air Force begins giving mandatory anthrax shots in U.S. And Iran Have Been Talking, Quietly Korea U.N. Nuclear Agency Curtails Technical Assistance To Nuclear Weapons Rarely Needed, General Says Iran Defector's Intel Trove Talks On Payments From Iran Founder Where Those Reactors And Centrifuges Came From Iran's President Wants To Tell Security Council Of Nuclear Aims THE UNTHINKABLE Can the United States be made safe from nuclear terrorism? Welcome to the CPC Outreach Journal. As part of USAF Counterproliferation Center’s mission to counter weapons of mass destruction through education and research, we’re providing our government and civilian community a source for timely counterproliferation information. This information includes articles, papers and other documents addressing issues pertinent to US military response options for dealing with nuclear, biological and chemical threats and attacks. It’s our hope this information resource will help enhance your counterproliferation issue awareness. Established in 1998, the USAF/CPC provides education and research to present and future leaders of the Air Force, as well as to members of other branches of the armed services and Department of Defense. Our purpose is to help those agencies better prepare to counter the threat from weapons of mass destruction. Please feel free to visit our web site at http://cpc.au.af.mil/ for in-depth information and specific points of contact. Please direct any questions or comments on CPC Outreach Journal to Jo Ann Eddy, CPC Outreach Editor, at (334) 953-7538 or DSN 493-7538. -
Hierarchical Off-Road Path Planning and Its Validation Using a Scaled Autonomous Car' Angshuman Goswami Clemson University
View metadata, citation and similar papers at core.ac.uk brought to you by CORE provided by Clemson University: TigerPrints Clemson University TigerPrints All Theses Theses 12-2017 Hierarchical Off-Road Path Planning and Its Validation Using a Scaled Autonomous Car' Angshuman Goswami Clemson University Follow this and additional works at: https://tigerprints.clemson.edu/all_theses Recommended Citation Goswami, Angshuman, "Hierarchical Off-Road Path Planning and Its Validation Using a Scaled Autonomous Car'" (2017). All Theses. 2793. https://tigerprints.clemson.edu/all_theses/2793 This Thesis is brought to you for free and open access by the Theses at TigerPrints. It has been accepted for inclusion in All Theses by an authorized administrator of TigerPrints. For more information, please contact [email protected]. HIERARCHICAL OFF-ROAD PATH PLANNING AND ITS VALIDATION USING ASCALED AUTONOMOUS CAR A Thesis Presented to the Graduate School of Clemson University In Partial Fulfillment of the Requirements for the Degree Master of Science Mechanical Engineering by Angshuman Goswami December 2017 Accepted by: Dr. Ardalan Vahidi, Committee Chair Dr. John R. Wagner Dr. Phanindra Tallapragada Abstract In the last few years. while a lot of research efforthas been spent on autonomous vehicle navigation, primarily focused on on-road vehicles, off-road path planning still presents new challenges. Path planning for an autonomous ground vehicle over a large horizon in an unstructured environment when high-resolution a-priori information is available, is still very much an open problem due to the computations involved. Local- ization and control of an autonomous vehicle and how the control algorithms interact with the path planner is a complex task. -
Passenger Response to Driving Style in an Autonomous Vehicle
Passenger Response to Driving Style in an Autonomous Vehicle by Nicole Belinda Dillen A thesis presented to the University of Waterloo in fulfillment of the thesis requirement for the degree of Master of Mathematics in Computer Science Waterloo, Ontario, Canada, 2019 c Nicole Dillen 2019 I hereby declare that I am the sole author of this thesis. This is a true copy of the thesis, including any required final revisions, as accepted by my examiners. I understand that my thesis may be made electronically available to the public. ii Abstract Despite rapid advancements in automated driving systems (ADS), current HMI research tends to focus more on the safety driver in lower level vehicles. That said, the future of automated driving lies in higher level systems that do not always require a safety driver to be present. However, passengers might not fully trust the capability of the ADS in the absence of a safety driver. Furthermore, while an ADS might have a specific set of parameters for its driving profile, passengers might have different driving preferences, some more defensive than others. Taking these preferences into consideration is, therefore, an important issue which can only be accomplished by understanding what makes a passenger uncomfortable or anxious. In order to tackle this issue, we ran a human study in a real-world autonomous vehicle. Various driving profile parameters were manipulated and tested in a scenario consisting of four different events. Physiological measurements were also collected along with self- report scores, and the combined data was analyzed using Linear Mixed-Effects Models. The magnitude of a response was found to be situation dependent: the presence and proximity of a lead vehicle significantly moderated the effect of other parameters. -
Studies of a Dirhodium Tetraphosphine Catalyst for Hydroformylation And
Louisiana State University LSU Digital Commons LSU Doctoral Dissertations Graduate School 2012 Studies of a dirhodium tetraphosphine catalyst for hydroformylation and aldehyde-water shift ac talysis Aaron Rider Barnum Louisiana State University and Agricultural and Mechanical College Follow this and additional works at: https://digitalcommons.lsu.edu/gradschool_dissertations Part of the Chemistry Commons Recommended Citation Barnum, Aaron Rider, "Studies of a dirhodium tetraphosphine catalyst for hydroformylation and aldehyde-water shift catalysis" (2012). LSU Doctoral Dissertations. 3998. https://digitalcommons.lsu.edu/gradschool_dissertations/3998 This Dissertation is brought to you for free and open access by the Graduate School at LSU Digital Commons. It has been accepted for inclusion in LSU Doctoral Dissertations by an authorized graduate school editor of LSU Digital Commons. For more information, please [email protected]. STUDIES OF A DIRHODIUM TETRAPHOSPHINE CATALYST FOR HYDROFORMYLATION AND ALDEHYDE-WATER SHIFT CATALYSIS A Dissertation Submitted to the Graduate Faculty of the Louisiana State University and Agricultural and Mechanical College In partial fulfillment of the Requirements for the degree of Doctor of Philosophy In The Department of Chemistry by Aaron Rider Barnum B.S. Loyola University New Orleans, 2007 December 2012 ACKNOWLEDGEMENTS I would like to thank my family, for without their encouragements and support I would not be where I am today. To my parents, Otis and Cindy Barnum, thank you for everything throughout the years. To my grandmother Teruko, you are responsible for two things I hold very dear to my heart: inspiring me to become the scientist and chemist I am today and also for keeping me in touch with my Japanese heritage. -
Arxiv:1103.2727V1 [Physics.Hist-Ph] 14 Mar 2011 a Chronology of Touschek’S Life During the War Years
EPJ manuscript No. (will be inserted by the editor) Bruno Touschek: particle physicist and father of the e+e− collider Luisa Bonolis1;a and Giulia Pancheri2;b 1 AIF, History of Physics Group, Via Cavalese 13, 00135 Rome (Italy) 2 INFN Frascati National Laboratories, Via E. Fermi 40, 00044 Frascati (Italy) and Center for Theoretical Physics, Laboratory for Nuclear Science, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139 Abstract. This article gives a brief outline of the life and works of the Austrian physicist Bruno Touschek, who conceived, proposed and, fifty years ago, brought to completion the construction of AdA, the first electron-positron storage ring. The events which led to the approval of the AdA project and the Franco-Italian collaboration which con- firmed the feasibility of electron-positron storage rings will be recalled. We shall illustrate Bruno Touschek's formation both as a theoretical physicist and as an expert in particle accelerators during the period be- tween the time he had to leave the Vienna Staat Gymnasium in 1938, because of his Jewish origin from the maternal side, until he arrived in Italy in the early 1950s and, in 1960, proposed to build AdA, in Frascati. The events which led to Touschek's collaboration with Rolf Widerøe in the construction of the first European betatron will be de- scribed. The article will make use of a number of unpublished as well as previously unknown documents, which include an early correspon- dence with Arnold Sommerfeld and Bruno Touschek's letters to his family in Vienna from Italy, Germany and Great Britain. -
Government and the Scientific Community. Before His Death in 1998 Due to an Illness, He Was Especially Delighted to See the Buil
ndsbv7_Z 9/27/07 3:28 PM Page 402 Zhu Zhu government and the scientific community. Before his March 1890; d. Beijing, China, 7 February 1974), mete- death in 1998 due to an illness, he was especially delighted orology, climatology, geography, education, science policy. to see the building and successful operation of the Beijing Zhu was a founder of modern meteorology and geog- Electron-Positron Collider in the IHEP in the 1980s and raphy in China who made significant contributions to the 1990s, the result of a collaboration between the United studies of typhoons, rainfall patterns, phenology, geo- States and China in high-energy physics. graphic regions, and, especially, historical climate change of China. He also played a prominent role in science pol- BIBLIOGRAPHY icy, higher education, natural resources surveys, the his- There is no known depository of Zhao’s correspondence or tory of science, and popularization of science in China in unpublished papers but presumably some of them are contained the twentieth century. in the archives at the Chinese Academy of Sciences and its Institute of High Energy Physics in Beijing. A fairly complete list Early Years and Education. Zhu’s father, Zhu Jiaxian, was of his scientific publications are included in Zhao Zhongyao a rice merchant in Shaoxing and his mother Gu Jinniang, lunwen xuanji (Selected papers of Zhao Zhongyao), 1992. a devout Buddhist, ran a busy household with six chil- dren. Kezhen was the youngest in the family. Like many WORKS BY ZHAO of the prominent figures in Chinese history who origi- “The Problem of the Ionized Hydrogen Molecule.” Proceedings of the National Academy of Sciences of the United States of nated in the region, Zhu was reared in an environment America 15, no. -
A Self-Supervised Terrain Roughness Estimator for Off-Road Autonomous
A Self-Supervised Terrain Roughness Estimator for O®-Road Autonomous Driving David Stavens and Sebastian Thrun Stanford Arti¯cial Intelligence Laboratory Computer Science Department Stanford, CA 94305-9010 fstavens,[email protected] Abstract 1 INTRODUCTION Accurate perception is a principal challenge In robotic autonomous o®-road driving, the primary of autonomous o®-road driving. Percep- perceptual problem is terrain assessment in front of tive technologies generally focus on obsta- the robot. For example, in the 2005 DARPA Grand cle avoidance. However, at high speed, ter- Challenge (DARPA, 2004), a robot competition orga- rain roughness is also important to control nized by the U.S. Government, robots had to identify shock the vehicle experiences. The accuracy drivable surface while avoiding a myriad of obstacles required to detect rough terrain is signi¯- { cli®s, berms, rocks, fence posts. To perform ter- cantly greater than that necessary for obsta- rain assessment, it is common practice to endow ve- cle avoidance. hicles with forward-pointed range sensors. Terrain is We present a self-supervised machine learn- then analyzed for potential obstacles. The result is ing approach for estimating terrain rough- used to adjust the direction of vehicle motion (Kelly ness from laser range data. Our approach & Stentz, 1998a; Kelly & Stentz, 1998b; Langer et al., compares sets of nearby surface points ac- 1994; Urmson et al., 2004). quired with a laser. This comparison is chal- lenging due to uncertainty. For example, at When driving at high speed { as in the DARPA Grand range, laser readings may be so sparse that Challenge { terrain roughness must also dictate vehicle signi¯cant information about the surface is behavior because rough terrain induces shock propor- missing. -
Vinyl Ether Functional Polyurethanes As Novel Photopolymers
Vinyl Ether Functional Polyurethanes as Novel Photopolymers Dissertation zur Erlangung des Grades „Doktor der Naturwissenschaften” im Promotionsfach Chemie am Fachbereich Chemie, Pharmazie und Geowissenschaften der Johannes Gutenberg-Universität Mainz Stefan Kirschbaum geboren in Köln Mainz, 2015 Dekan: 1. Berichterstatter: 2. Berichterstatter: Tag der mündlichen Prüfung: 17. Dezember 2015 Ich versichere, die als Dissertation vorliegende Arbeit selbstständig angefertigt zu haben und alle verwendeten Quellen und Hilfsmittel kenntlich gemacht zu haben. Die vorliegende Arbeit wurde von Oktober 2012 bis November 2015 unter Betreuung von in Kooperation zwischen dem Max-Planck-Institut für Polymerforschung in Mainz und der Henkel AG und Co. KGaA in Düsseldorf angefertigt. IV Introduction Table of Content 1 Introduction .......................................................................................................... 1 2 Theoretical Background ...................................................................................... 5 2.1 Basic Considerations of Photocuring ........................................................................ 5 2.1.1 Photoinitiation and Electronic States ............................................................................ 6 2.1.2 Cationic Photoinitiators .............................................................................................. 11 2.1.3 Photoinduced Cationic Polymerization ...................................................................... 14 2.1.4 Photoinduced Radical Polymerization -
Stanley: the Robot That Won the DARPA Grand Challenge
Stanley: The Robot that Won the DARPA Grand Challenge ••••••••••••••••• •••••••••••••• Sebastian Thrun, Mike Montemerlo, Hendrik Dahlkamp, David Stavens, Andrei Aron, James Diebel, Philip Fong, John Gale, Morgan Halpenny, Gabriel Hoffmann, Kenny Lau, Celia Oakley, Mark Palatucci, Vaughan Pratt, and Pascal Stang Stanford Artificial Intelligence Laboratory Stanford University Stanford, California 94305 Sven Strohband, Cedric Dupont, Lars-Erik Jendrossek, Christian Koelen, Charles Markey, Carlo Rummel, Joe van Niekerk, Eric Jensen, and Philippe Alessandrini Volkswagen of America, Inc. Electronics Research Laboratory 4009 Miranda Avenue, Suite 100 Palo Alto, California 94304 Gary Bradski, Bob Davies, Scott Ettinger, Adrian Kaehler, and Ara Nefian Intel Research 2200 Mission College Boulevard Santa Clara, California 95052 Pamela Mahoney Mohr Davidow Ventures 3000 Sand Hill Road, Bldg. 3, Suite 290 Menlo Park, California 94025 Received 13 April 2006; accepted 27 June 2006 Journal of Field Robotics 23(9), 661–692 (2006) © 2006 Wiley Periodicals, Inc. Published online in Wiley InterScience (www.interscience.wiley.com). • DOI: 10.1002/rob.20147 662 • Journal of Field Robotics—2006 This article describes the robot Stanley, which won the 2005 DARPA Grand Challenge. Stanley was developed for high-speed desert driving without manual intervention. The robot’s software system relied predominately on state-of-the-art artificial intelligence technologies, such as machine learning and probabilistic reasoning. This paper describes the major components of this architecture, and discusses the results of the Grand Chal- lenge race. © 2006 Wiley Periodicals, Inc. 1. INTRODUCTION sult of an intense development effort led by Stanford University, and involving experts from Volkswagen The Grand Challenge was launched by the Defense of America, Mohr Davidow Ventures, Intel Research, ͑ ͒ Advanced Research Projects Agency DARPA in and a number of other entities. -
Jagd Auf Die Klügsten Köpfe
1 DEUTSCHLANDFUNK Redaktion Hintergrund Kultur / Hörspiel Redaktion: Ulrike Bajohr Dossier Jagd auf die klügsten Köpfe. Intellektuelle Zwangsarbeit deutscher Wissenschaftler in der Sowjetunion. Ein Feature von Agnes Steinbauer 12:30-13:15 Sprecherin: An- und Absage/Text: Edda Fischer 13:10-13:45 Sprecher 1: Zitate, Biografien Thomas Lang Sprecher 2: An- und Absage/Zwischentitel/ ov russisch: Lars Schmidtke (HSP) Produktion: 01. /02 August 2011 ab 12:30 Studio: H 8.1 Urheberrechtlicher Hinweis Dieses Manuskript ist urheberrechtlich geschützt und darf vom Empfänger ausschließlich zu rein privaten Zwecken genutzt werden. Die Vervielfältigung, Verbreitung oder sonstige Nutzung, die über den in §§ 44a bis 63a Urheberrechtsgesetz geregelten Umfang hinausgeht, ist unzulässig. © - unkorrigiertes Exemplar - Sendung: Freitag, d. 05.August 2011, 19.15 – 2 01aFilmton russisches Fernsehen) Beginn bei ca 15“... Peenemünde.... Wernher von Braun.... nach ca 12“(10“) verblenden mit Filmton 03a 03a 0-Ton Boris Tschertok (russ./ Sprecher 2OV ) Im Oktober 1946 wurde beschlossen, über Nacht gleichzeitig alle nützlichen deutschen Mitarbeiter mit ihren Familien und allem, was sie mitnehmen wollten, in die UdSSR zu transportieren, unabhängig von ihrem Einverständnis. Filmton 01a hoch auf Stichwort: Hitler....V2 ... bolschoi zaschtschitny zel darauf: 03 0-Ton Karlsch (Wirtschaftshistoriker): 15“ So können wir sagen, dass bis zu 90 Prozent der Wissenschaftler und Ingenieure, die in die Sowjetunion kamen, nicht freiwillig dort waren, sondern sie hatten keine Chance dem sowjetischen Anliegen auszuweichen. Filmton 01a bei Detonation hoch und weg Ansage: Jagd auf die klügsten Köpfe. Intellektuelle Zwangsarbeit deutscher Wissenschaftler in der Sowjetunion. Ein Feature von Agnes Steinbauer 3 04 0-Ton Helmut Wolff 57“ Am 22.Oktober frühmorgens um vier klopfte es recht heftig an die Tür, und vor der Wohnungstür stand ein sowjetischer Offizier mit Dolmetscherin, rechts und links begleitet von zwei sowjetischen Soldaten mit MPs im Anschlag.