Cam And Follower Example

[Lola Maroun]

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Everyone wants to be identified as a leader. However, does anyone want to be a leader that no one wants to follow? An effective follower has a significant influence on fellow followers and they play a pivotal role in the success of their "leadership". An effective follower that truly believes and carries an organization's vision can contribute to the success of the organization and gain the desired respect and recognition regardless of their title or position.

I met several people throughout my career that were great influencers, yet refused to take on higher titles or positions. One of them was a systems and database administrator at a Fortune 500 organization; let's call him Mr. Joe. Mr Joe always worked in the best interest of the organization, but never took a managemet or even a "lead" position, although he would influence and lead how the whole organization dealt with system landscapes, the architecture and business software solution design. Similar people across a few different organizations that I have worked with made me ponder what would be some of the qualities of these high influencers that are not holding higher positions. Here is an incomplete list of these qualities:

An effective follower feels a sense of responsibility towards the organization they are serving. They are self-driven to establish processes, make sure processes are followed, morally driven to do what is right for the organization and society at large. They are not waiting to land that perform position or title to do the right things - they act and they own.

Effective followers consciously incorporate themselves into discussions impacting the organization or the department. They participate and provide constructive feedback regardless of whether the task at hand has a direct impact on their role. They do not hesitate to make the right connections to get things done regardless of their takeaway from the engagement.

Effective followers do not hesitate to challenge the norm. It does not mean they are rude or intervening all the time, but they care to ask questions to make co-workers or supervisors think out of the box and look for more efficient ways to get things done. Nothing changes when no one challenges and there is no better person than an effective follower to challenge the status quo.

Effective followers are constantly checking themselves, their own work and their communication to ensure it is worthwhile. You have an effective follower inside you if you write an email and double check to make sure you are not verbose, you are not boring or confusing the audience and you are crystal clear about your problem statements, solutions or the ask.

Being an effective follower has its own perks, the top one being a lot of self-satisfaction and confidence that you have done the right thing. In the right environment, it won't be too long before one also ends up in higher ranking positions within the organization with the right level of job skills and effective followership. Be an effective follower to become an effective leader.

RoadRunner Scenario is an interactive editor that enables you to design scenarios for simulating and testing automated driving systems. You can place vehicles, define their paths and interactions in the scenario, and then simulate the scenario in the editor. RoadRunner Scenario supports in-editor playback for scenario visualization and connecting to other simulators such as MATLAB and Simulink for cosimulation.

The speed action follower reads the vehicle runtime, path, and speed action of the ego vehicle, and all actor runtimes from RoadRunner Scenario. It then uses this information to process the speed action and updates the ego vehicle runtime in the scenario.

Start RoadRunner application interactively by using the roadrunnerSetup function. When the function opens a dialog box, specify the RoadRunner Project Folder and RoadRunner Installation Folder locations.

The rrApp RoadRunner object enables you to interact with RoadRunner from the MATLAB workspace. You can open the scenario and update scenario variables using this object. For more information on variables, see Generate Scenario Variations Using gRPC API (RoadRunner Scenario).

The scenario contains two vehicles. The blue lead car follows the lane-following built-in behavior. The white ego vehicle travels on the specified path. In this example, you must specify a path for the ego vehicle. The lead car initially travels at a speed of 20 m/s, and then decelerates to a speed of 5 m/s over the next 10 seconds. The ego vehicle initially travels at a speed of 20 m/s. When the ego vehicle is 30 m away from the lead car, it starts decelerating to attain an absolute target speed of 15 m/s.

In this example, you implement a speed action following behavior for the ego vehicle using a MATLAB System object. Select the SpeedActionFollower.rrbehavior file in the Library Browser. The Attributes pane shows that the behavior file points to a MATLAB System object, SpeedActionFollower.m.

This example uses the changeSpeedType scenario variable to programmatically vary the Relative To attribute of the Change Speed action of the ego vehicle. Using this variable, you can specify an absolute target speed or a relative target speed.

The speed action follower reads path and speed actions from RoadRunner Scenario and updates the runtime pose of the ego vehicle. This diagram shows the key functionality implemented in the speed action follower.

The SpeedActionFollower MATLAB program file calls the setupImpl function method during initialization. The function reads the Follow Path action from RoadRunner Scenario and gets the waypoints of the specified path of the ego vehicle.

SpeedActionFollower then calls the stepImpl function at each simulation step. The speed action adapter reads the Change Speed action from RoadRunner Scenario and calculates the current speed of the ego vehicle. The polyline evaluator reads the waypoints and the current speed to calculate the current pose of the ego vehicle.

The speed action adapter processes Change Speed action messages and updates the current speed of the vehicle. It supports absolute and relative types of target speed. The HelperSpeedActionAdapter.m script implements the speed action adapter with this primary interface:

The polyline evaluator calculates the next ego position based on the current position and the current speed. The HelperPolylineEvaluator.m script implements the polyline evaluator with this primary interface:

Use the helperVisualizeSpeedFollowerVelocityProfile function to plot the simulation results. The helperVisualizeSpeedFollowerVelocityProfile helper function takes rrSim, the ego actor ID, and the lead vehicle actor ID as inputs.

The Relative distance plot shows the relative longitudinal distance between the ego vehicle and lead vehicle. When the relative distance reaches 30 m, the ego vehicle slows down to 15 m/s. At the end of the simulation, the ego vehicle collides with the lead vehicle.

The Relative velocity plot shows the relative longitudinal velocity between the ego and lead vehicles. Initially, relative velocity is 0 m/s because both the ego and lead vehicle starts traveling at the same speed. When the ego vehicle slows down, the relative velocity first decreases, and then increases because the ego vehicle maintains a velocity of 15 m/s and the lead car continues to slow down to attain a velocity of 5 m/s.

The Longitudinal velocity plot shows the absolute longitudinal velocities of both the ego and the lead vehicle. When the Change Speed action is triggered, the ego vehicle slows down to 15 m/s and maintains that speed.

The second action phase of the ego vehicle now defines a relative speed action. When the ego vehicle is 30 m away from the lead car, the ego vehicle starts decelerating to match the speed of the lead car.

The Relative distance plot shows the relative longitudinal distance between the ego and lead vehicle. When the relative distance reaches 30m, the ego vehicle slows down to match the speed of the lead vehicle. At the end of the simulation, the ego vehicle maintains a constant distance from the lead vehicle and avoids collision.

The Relative velocity plot shows the relative longitudinal velocity between the ego and lead vehicles. When the ego vehicle slows down, the relative velocity decreases until it reaches 0 m/s.

The Longitudinal velocity plot shows the absolute longitudinal velocity of both the ego and the lead vehicle. When the Change Speed action is triggered, the ego vehicle slows down to match the speed of the lead vehicle, and continues to follow the speed of the lead vehicle.

This example showed how to design a speed action follower in MATLAB by reading a Change Speed action and Follow Path action from RoadRunner Scenario. It also showed how to use a scenario variable to parameterize the scenario and simulate the updated scenario.

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As an important way to understand leadership based on voluntary contribution mechanisms, the importance of leading by example to teamwork is becoming more and more evident in recent years. However, existing theories based on signaling and reciprocity perspectives, respectively, provide incomplete theoretical explaining. This study adds clarity by conducting a cross-level study that indicates a possible integrative framework of both signaling and reciprocity perspective on leading by example. Results were using data gathered from 130 Chinese college students, which were allocated into one baseline group and three experimental groups. A hierarchical model was used to examine the effects of leading by example on different levels. It is found that leading by example has positive effects on the cooperation of followers on both the group level and the individual level. Risk attitudes have positive effects on the cooperation of followers while trust attitudes have negative effects. Our findings suggest that both leading by example and personal traits significantly influence cooperation but on different levels. It also reminds us that a more systematic way to understand leadership is needed.

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