Control and Systems Engineering, Electrical and Electronic Engineering, Computer Engineering
4
Scopus Publications
29
Scholar Citations
2
Scholar h-index
1
Scholar i10-index
Scopus Publications
Optimizing Lane Change Precision in Autonomous Vehicles: Smooth Trajectory Execution With MPC-Based State Estimation Heyi Muluneh Hailu, Salim Hima, Ahmed Chaibet IEEE Access, 2024 Autonomous vehicle lane change maneuvers are an intricate task that requires multiple subsystems to work together to ensure the maneuver’s safety and efficiency. This research paper investigates lane change maneuvers of autonomous vehicles, utilizing a trajectory generated using a sinusoidal function considering the ISO 3888 standards. The driving maneuver steering angle input is derived from the generated trajectory, which is adjusted using model predictive control (MPC) to calculate an optimal steering angle for lateral movement and manage throttle input to maintain longitudinal stability. Throughout lane change maneuvers, the vehicle’s states are estimated using model-based Kalman filters, relying on input and measurement data from inertial sensors. The paper compares four state estimator filters: Standard Kalman Filter, Extended Kalman Filter, Unscented Kalman Filter, and Adaptive Unscented Kalman Filter. The implementation of the lane change trajectory generator, MPC algorithm, and state estimators within MATLAB/Simulink, validated through IPG CarMaker, highlights the Adaptive Unscented Kalman Filter as the optimal choice for lane change state estimation. Its adaptive covariance adjustment sets it apart from the other filters under examination.
A service oriented cloud-based architecture for mobile geolocated emergency services C. Rossi, M. H. Heyi, F. Scullino Concurrency and Computation Practice and Experience, 2017 Despite the growing development of space‐based systems aimed at monitoring and studying natural hazards, they continue to harm humankind worldwide, causing enormous human and economic losses. In a view of improving the effectiveness and the timeliness of existing emergency systems, we propose a service‐oriented cloud‐based software architecture for mobile sensing applications. Exploiting existing Global Navigation Satellite Systems and public Cloud Computing services, we implement a set of mobile geolocated services enabling mobile devices to send real‐time in‐field observations. Such observations could be used by authorities and first responders for both Early Warning and Emergency Response services complementing in real time the situational assessment provided by existing means, eg, remote sensed information and in‐situ sensors. We propose a Service Oriented Architecture that can be used as a reference for implementing the back end of mobile applications requiring to send crowdsourced geolocated reports. We fully implement a real application, and we evaluate its performances with Microsoft Azure varying the user load and the main deployment parameters. Our results can be taken as reference to assess the capability of future applications with similar requirements.
On the evaluation of cloud web services for crowdsourcing mobile applications M. H. Heyi, C. Rossi Proceedings of 2016 International Conference on Cloud Computing Technologies and Applications Cloudtech 2016, 2017 Despite the growing importance of mobile crowdsourcing applications and cloud computing, little is known about the actual performances of web services deployed within public cloud computing platforms. In order to provide an assessment of the achievable performances in such scenario, we design and implement a back-end general architecture for mobile applications requiring crowdsourcing. We deploy our back-end in the Microsoft Azure cloud computing platform using the PaaS approach, and we evaluate its performance in terms of autoscaling, response time and request rate; while varying the number of instances, the instance type, and the number of concurrent users. Our results shed light on the achievable performances of web services aimed at ingesting crowdsourced data.
RECENT SCHOLAR PUBLICATIONS
Optimizing lane change precision in autonomous vehicles: Smooth trajectory execution with MPC-based state estimation HM Hailu, S Hima, A Chaibet IEEE Access 12, 105027-105041 , 2024 2024 Citations: 2
Small scale automated water disinfection system for rural areas MH Heyi, D Patrissi, B Khan International Journal of Environmental Science and Technology 20 (11), 12025 … , 2023 2023 Citations: 2
Development of a Retinal Image Segmentation Algorithm for the Identifying Prevalence Markers of Diabetic Retinopathy Using a Neural Network MH Heyi, DM Tadesse International Journal of Innovative Science and Research Technology 6 (10 … , 2021 2021 Citations: 2
Comparative Analysis of a Controller for a Magnetic Ball Levitation System GN AMERGA, M Hailu International Journal of Innovative Science and Research Technology 6 (8 … , 2021 2021
A service oriented cloud‐based architecture for mobile geolocated emergency services C Rossi, MH Heyi, F Scullino Concurrency and Computation: Practice and Experience 29 (11), e4051 , 2017 2017 Citations: 18
On the evaluation of cloud web services for crowdsourcing mobile applications MH Heyi, C Rossi 2016 2nd International Conference on Cloud Computing Technologies and … , 2016 2016 Citations: 5
MOST CITED SCHOLAR PUBLICATIONS
A service oriented cloud‐based architecture for mobile geolocated emergency services C Rossi, MH Heyi, F Scullino Concurrency and Computation: Practice and Experience 29 (11), e4051 , 2017 2017 Citations: 18
On the evaluation of cloud web services for crowdsourcing mobile applications MH Heyi, C Rossi 2016 2nd International Conference on Cloud Computing Technologies and … , 2016 2016 Citations: 5
Optimizing lane change precision in autonomous vehicles: Smooth trajectory execution with MPC-based state estimation HM Hailu, S Hima, A Chaibet IEEE Access 12, 105027-105041 , 2024 2024 Citations: 2
Small scale automated water disinfection system for rural areas MH Heyi, D Patrissi, B Khan International Journal of Environmental Science and Technology 20 (11), 12025 … , 2023 2023 Citations: 2
Development of a Retinal Image Segmentation Algorithm for the Identifying Prevalence Markers of Diabetic Retinopathy Using a Neural Network MH Heyi, DM Tadesse International Journal of Innovative Science and Research Technology 6 (10 … , 2021 2021 Citations: 2
Comparative Analysis of a Controller for a Magnetic Ball Levitation System GN AMERGA, M Hailu International Journal of Innovative Science and Research Technology 6 (8 … , 2021 2021
