This paper describes a data set collected by MIT’s autonomous vehicle Talos during the 2007 DARPA Urban Challenge. Data from a high precision navigation system, 5 cameras, 12 SICK planar laser range scanners, and a Velodyne high density laser range scanner were synchronized and logged to disk for 90km of travel. In addition to documenting a number of large loop closures useful for developing ma...

[1] The San Andreas Fault (SAF) is the transform boundary between the Pacific and the North American plates, yet up to 25% of the relative plate motion is now accommodated by the eastern California shear zone (ECSZ). Here we investigate the inception of the ECSZ and its geodynamic interactions with the SAF using a 3‐D viscoelastoplastic finite element model. For a given fault configuration of t...

We present an approach that allows mission and contingency management to be achieved in a distributed and dynamic manner without any central control over multiple software modules. This approach comprises two key elements—a mission management subsystem and a Canonical Software Architecture (CSA) for a planning subsystem. The mission management subsystem works in conjunction with the planning su...

In this paper with the help of different empirical models we have estimated the value of monthly average global solar irradiation for Ranchi (23.3500 ̊N, 85.3300 ̊E), a tropical location. The values of monthly average global solar radiation are calculated using the regression constants in the models (both linear and quadratic) suggested by: AngstromPrescott, Rietveld, Ogleman, Akinoglu, Glover, G...

Ficus microcarpa is an Asian fig tree that is ornamentally cultivated. The specific pollinator, Eupristina verticillata Waterston, and the non-pollinators Walkerella microcarpae Boucek and Philotrypesis emeryi Grandi, have been reported associated to F. microcarpa in Brazil. In here we report for the first time the occurrence of Odontofroggatia ishii Wiebes and Philotrypesis taiwanensis Chen et...

The concepts studied during Offset Stream Technology (OST) test were all designed to produce directional jet noise reduction in a separate flow engine configuration by redirecting the fan stream relative to the core stream, creating a thicker fan flow on one side of the jet. Previous studies, conducted at bypass ratios of five or less showed that lower noise levels would result on the thickened...

The 2007 Darpa grand challenge is a 100 km race between autonomous vehicles in an urban environment. This paper presents the results of kinematic motion study in order to quantify the minimum perception range requirements of a canonical set of manoeuvres that are required for the event. The paper also considers the potential advantage that a course reversal strategy may provide competitors that...

This paper reports on various aspects of the Intelligent Vehicle Systems (IVS) team’s involvement in the recent 2007 DARPA Urban Challenge, wherein our platform, the autonomous “XAV-250,” competed as one of the 11 finalists qualifying for the event. We provide a candid discussion of the hardware and software design process that led to our team’s entry, along with lessons learned at this event a...