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Part I of this paper proposed a development process and system platform for the development of autonomous cars based on distributed system architecture. The proposed development methodology enabled the design and development of an autonomous car with benefits such as a reduction of computational complexity, fault-tolerant characteristics, and system modularity. In present paper (Part II), a case study of the proposed development methodology are addressed by showing the implementation process of an autonomous driving system. In order to describe the implementation process intuitively, core autonomous driving algorithms (localization, perception, planning, vehicle control, and system management) are briefly introduced and applied to the implementation of an autonomous driving system. We are able to examine the advantages of a distributed system architecture and the proposed development process by conducting a case study on the autonomous system implementation. The validity of the proposed methodology is proved through the autonomous car, A1 that won the 2012 Autonomous Vehicle Competition in Korea with all missions completed.

The ordering of synthetic liquid crystals near surfaces is known to be dependent on the nanoscopic structure and chemical functionality of surfaces. In this letter, we report that the orientational ordering of synthetic liquid crystals on surfaces decorated with viruses is also dependent on the structures of the viruses. Each of the four virions investigated had diameters of approximately 100 nm, but three of the viruses (influenza virus, La Crosse virus, and vesicular stomatitis virus) were enveloped in a lipid bilayer, whereas one virus (adenovirus) was not. We observed that lipid bilayer-enveloped viruses induce homeotropic (perpendicular) ordering of a nematic liquid crystal upon contact with the liquid crystal. In contrast, nonenveloped virus (adenovirus)-treated surfaces caused a near-planar orientation of the liquid crystal. We conclude that the homeotropic ordering of liquid crystals is a signature of the presence of enveloped viruses present on surfaces. These results suggest new approaches to the design of nanostructured materials that incorporate viruses as well as suggest methods that can be used to amplify the presence of nanoscopic virions into micrometer-sized domains of liquid crystal that can be optically probed.

Ribonuclease A (RNase A) is immobilized on silver surfaces in oriented and random form via self-assembled monolayers (SAMs) of alkanethiols. The immobilization process is characterized step-by-step using chemically selective near-edge X-ray absorption fine structure spectroscopy (NEXAFS) at the C, N, and S K-edges. Causes of imperfect immobilization are pinpointed, such as oxidation and partial desorption of the alkanethiol SAMs and incomplete coverage. The orientation of the protein layer manifests itself in an 18% polarization dependence of the NEXAFS signal from the N 1s to pi* transition of the peptide bond, which is not seen for a random orientation. The S 1s to C-S sigma* transition exhibits an even larger polarization dependence of 41%, which is reduced to 5% for a random orientation. A quantitative model is developed that explains the sign and magnitude of the polarization dependence at both edges. The results demonstrate that NEXAFS is able to characterize surface reactions during the immobilization of proteins and to provide insight into their orientations on surfaces.

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