System, Design and Experimental Validation of Autonomous Vehicle in an Unconstrained Environment.

In recent years, technological advancements have made a promising impact on the development of autonomous vehicles. The evolution of electric vehicles, development of state-of-the-art sensors, and advances in artificial intelligence have provided necessary tools for the academia and industry to develop the prototypes of autonomous vehicles that enhance the road safety and traffic efficiency. The increase in the deployment of sensors for the autonomous vehicle, make it less cost-effective to be utilized by the consumer. This work focuses on the development of full-stack autonomous vehicle using the limited amount of sensors suite. The architecture aspect of the autonomous vehicle is categorized into four layers that include sensor layer, perception layer, planning layer and control layer. In the sensor layer, the integration of exteroceptive and proprioceptive sensors on the autonomous vehicle are presented. The perception of the environment in term localization and detection using exteroceptive sensors are included in the perception layer. In the planning layer, algorithms for mission and motion planning are illustrated by incorporating the route information, velocity replanning and obstacle avoidance. The control layer constitutes lateral and longitudinal control for the autonomous vehicle. For the verification of the proposed system, the autonomous vehicle is tested in an unconstrained environment. The experimentation results show the efficacy of each module, including localization, object detection, mission and motion planning, obstacle avoidance, velocity replanning, lateral and longitudinal control. Further, in order to demonstrate the experimental validation and the application aspect of the autonomous vehicle, the proposed system is tested as an autonomous taxi service.

Nanoscale RRAM-based synaptic electronics: toward a neuromorphic computing device.

Efforts to develop scalable learning algorithms for implementation of networks of spiking neurons in silicon have been hindered by the considerable footprints of learning circuits, which grow as the number of synapses increases. Recent developments in nanotechnologies provide an extremely compact device with low-power consumption.In particular, nanoscale resistive switching devices (resistive random-access memory (RRAM)) are regarded as a promising solution for implementation of biological synapses due to their nanoscale dimensions, capacity to store multiple bits and the low energy required to operate distinct states. In this paper, we report the fabrication, modeling and implementation of nanoscale RRAM with multi-level storage capability for an electronic synapse device. In addition, we first experimentally demonstrate the learning capabilities and predictable performance by a neuromorphic circuit composed of a nanoscale 1 kbit RRAM cross-point array of synapses and complementary metal-oxide-semiconductor neuron circuits. These developments open up possibilities for the development of ubiquitous ultra-dense, ultra-low-power cognitive computers.