A Review of Traffic Signal Control.

The aim of this paper is to provide a starting point for the future research within the SERC sponsored project "Gating and Traffic Control: The Application of State Space Control Theory". It will provide an introduction to State Space Control Theory, State Space applications in transportation in general, an in-depth review of congestion control (specifically traffic signal control in congested situations), a review of theoretical works, a review of existing systems and will conclude with recommendations for the research to be undertaken within this project

Modelling blue-light ambulance mobility in the London metropolitan area

Actions taken immediately following a life-threatening incident are critical for the survival of the patient. In particular, the timely arrival of ambulance crew often makes the difference between life and death. As a consequence, ambulance services are under persistent pressure to achieve rapid emergency response. Meeting stringent performance requirements poses special challenges in metropolitan areas where the higher population density results in high rates of life-threatening incident occurrence, compounded by lower response speeds due to traffic congestion. A key ingredient of data-driven approaches to address these challenges is the effective modelling of ambulance movement thus enabling the accurate prediction of the expected arrival time of a crew at the site of an incident. Ambulance mobility patterns however are distinct and in particular differ from civilian traffic: crews travelling with ashing blue lights and sirens are by law exempt from certain traffic regulations; and moreover, ambulance journeys are triggered by emergency incidents that are generated following distinct spatial and temporal patterns. We use a large historical dataset of incidents and ambulance location traces to model route selection and arrival times. Working on a road routing network modified to reflect the differences between emergency and regular vehicle traffic, we develop a methodology for matching ambulances Global Positioning System (GPS) coordinates to road segments, allowing the reconstruction of ambulance routes with precise speed data. We demonstrate how a road speed model that exploits this information achieves best predictive performance by implicitly capturing route-specific patterns in changing traffic conditions. We then present a hybrid model that achieves a high route similarity score while minimising journey duration error. This hybrid model outperforms alternative mobility models. To the best of our knowledge, this study represents the first attempt to apply data-driven methodologies to route selection and estimation of arrival times of ambulances travelling with blue lights and sirens

Cameras and carcasses: historical and current methods for using artificial food falls to study deep-water animals

Deep-ocean animals remain poorly understood compared to their shallow-water relatives, mainly because of the great cost and difficulty involved in obtaining reliable ecological data. This is a serious issue as exploitation of deep-water resources progresses without sufficient data being available to assess its risks and impacts. First described almost 40 years ago, the use of baited cameras was pioneered by deep-sea biologists and is now a widely used technique for the assessing patterns of animal behaviour, abundance and biodiversity. The technique provides a non-destructive and cost-effective means of collecting data, where other techniques such as trawling are difficult or impractical. This review will first describe the evolution of baited camera techniques in deep-sea research from the early deployments, through recent programs to investigate trends in animal distribution with depth, latitude, and ocean basin. In the second section the techniques used for imaging, baiting, and analysis are synthesized, with special consideration for the modeling techniques used in assessing animal abundance and biomass

ANALYSIS OF LARGE-SCALE TRAFFIC INCIDENTS AND EN ROUTE DIVERSIONS DUE TO CONGESTION ON FREEWAYS

En route traffic diversions have been identified as one of the effective traffic operations strategies in traffic incident management. The employment of such traffic operations will help relieve the congestion, save travel time, as well as reduce energy use and tailpipe emissions. However, little attention has been paid to quantifying the benefits by deploying such traffic operations under large-scale traffic incident-induced congestion on freeways, specifically under the connected vehicle environment. New Connected and Automated Vehicle technology, known as “CAV”, has the potential to further increase the benefits by deploying en route traffic diversions. This dissertation research is intended to study the benefits of en route traffic diversion by analyzing large-scale incident-related characteristics, as well as optimizing the signal plans under the diversion framework. The dissertation contributes to the art of traffic incident management by 1) understanding the characteristics of large-scale traffic incidents, and 2) developing a framework under the CAV to study the benefits of en route diversions.Towards the end, 4 studies are linked together for the dissertation. The first study will be focusing on the analysis of the large-scale traffic incidents by using the traffic incident data collected on East Tennessee major roadways. Specifically, incident classification, incident duration prediction, as well as sequential real-time prediction are studied in detail. The second study mainly focuses on truck-involved crashes. By incorporating injury severity information into the incident duration analysis, the second study developed a bivariate analysis framework using a unique dataset created by matching an incident database and a crash database. Then, the third study estimates and evaluates the benefit of deploying the en route traffic diversion strategy under the large-scale traffic incident-induced congestion on freeways by using simulation models and incorporating the analysis outcomes from the other two studies. The last study optimizes the signal timing plans for two intersections, which generates some implications along the arterial corridor under connected vehicles environment to gain more benefits in terms of travel timing savings for the studies network in Knoxville, Tennessee. The implications of the findings (e.g. faster response of agencies to the large-scale incidents reduces the incident duration, penetration of CAVs in the traffic diversion operations further reduces traffic network system delay), as well as the potential applications, will be discussed in this dissertation study

Contextual information aided target tracking and path planning for autonomous ground vehicles

Recently, autonomous vehicles have received worldwide attentions from academic research, automotive industry and the general public. In order to achieve a higher level of automation, one of the most fundamental requirements of autonomous vehicles is the capability to respond to internal and external changes in a safe, timely and appropriate manner. Situational awareness and decision making are two crucial enabling technologies for safe operation of autonomous vehicles. This thesis presents a solution for improving the automation level of autonomous vehicles in both situational awareness and decision making aspects by utilising additional domain knowledge such as constraints and influence on a moving object caused by environment and interaction between different moving objects. This includes two specific sub-systems, model based target tracking in environmental perception module and motion planning in path planning module. In the first part, a rigorous Bayesian framework is developed for pooling road constraint information and sensor measurement data of a ground vehicle to provide better situational awareness. Consequently, a new multiple targets tracking (MTT) strategy is proposed for solving target tracking problems with nonlinear dynamic systems and additional state constraints. Besides road constraint information, a vehicle movement is generally affected by its surrounding environment known as interaction information. A novel dynamic modelling approach is then proposed by considering the interaction information as virtual force which is constructed by involving the target state, desired dynamics and interaction information. The proposed modelling approach is then accommodated in the proposed MTT strategy for incorporating different types of domain knowledge in a comprehensive manner. In the second part, a new path planning strategy for autonomous vehicles operating in partially known dynamic environment is suggested. The proposed MTT technique is utilized to provide accurate on-board tracking information with associated level of uncertainty. Based on the tracking information, a path planning strategy is developed to generate collision free paths by not only predicting the future states of the moving objects but also taking into account the propagation of the associated estimation uncertainty within a given horizon. To cope with a dynamic and uncertain road environment, the strategy is implemented in a receding horizon fashion

Planning and estimation algorithms for human-like grasping

Mención Internacional en el título de doctorThe use of robots in human-like environments requires them to be able to sense and model unstructured scenarios. Thus, their success will depend on their versatility for interacting with the surroundings. This interaction often includes manipulation of objects for accomplishing common daily tasks. Therefore, robots need to sense, understand, plan and perform; and this has to be a continuous loop. This thesis presents a framework which covers most of the phases encountered in a common manipulation pipeline. First, it is shown how to use the Fast Marching Squared algorithm and a leader-followers strategy to control a formation of robots, simplifying a high dimensional path-planning problem. This approach is evaluated with simulations in complex environments in which the formation control technique is applied. Results are evaluated in terms of distance to obstacles (safety) and the needed deformation. Then, a framework to perform the grasping action is presented. The necessary techniques for environment modelling and grasp synthesis and path planning and control are presented. For the motion planning part, the formation concept from the previous chapter is recycled. This technique is applied to the planning and control of the movement of a complex hand-arm system. Tests using robot Manfred show the possibilities of the framework when performing in real scenarios. Finally, under the assumption that the grasping actions may not always result as it was previously planned, a Bayesian-based state-estimation process is introduced to estimate the final in-hand object pose after a grasping action is done, based on the measurements of proprioceptive and tactile sensors. This approach is evaluated in real experiments with Reex Takktile hand. Results show good performance in general terms, while suggest the need of a vision system for a more precise outcome.La investigación en robótica avanza con la intención de evolucionar hacia el uso de los robots en entornos humanos. A día de hoy, su uso está prácticamente limitado a las fábricas, donde trabajan en entornos controlados realizando tareas repetitivas. Sin embargo, estos robots son incapaces de reaccionar antes los más mínimos cambios en el entorno o en la tarea a realizar. En el grupo de investigación del Roboticslab se ha construido un manipulador móvil, llamado Manfred, en el transcurso de los últimos 15 años. Su objetivo es conseguir realizar tareas de navegación y manipulación en entornos diseñados para seres humanos. Para las tareas de manipulación y agarre, se ha adquirido recientemente una mano robótica diseñada en la universidad de Gifu, Japón. Sin embargo, al comienzo de esta tesis, no se había realzado ningún trabajo destinado a la manipulación o el agarre de objetos. Por lo tanto, existe una motivación clara para investigar en este campo y ampliar las capacidades del robot, aspectos tratados en esta tesis. La primera parte de la tesis muestra la aplicación de un sistema de control de formaciones de robots en 3 dimensiones. El sistema explicado utiliza un esquema de tipo líder-seguidores, y se basa en la utilización del algoritmo Fast Marching Square para el cálculo de la trayectoria del líder. Después, mientras el líder recorre el camino, la formación se va adaptando al entorno para evitar la colisión de los robots con los obstáculos. El esquema de deformación presentado se basa en la información sobre el entorno previamente calculada con Fast Marching Square. El algoritmo es probado a través de distintas simulaciones en escenarios complejos. Los resultados son analizados estudiando principalmente dos características: cantidad de deformación necesaria y seguridad de los caminos de los robots. Aunque los resultados son satisfactorios en ambos aspectos, es deseable que en un futuro se realicen simulaciones más realistas y, finalmente, se implemente el sistema en robots reales. El siguiente capítulo nace de la misma idea, el control de formaciones de robots. Este concepto es usado para modelar el sistema brazo-mano del robot Manfred. Al igual que en el caso de una formación de robots, el sistema al completo incluye un número muy elevado de grados de libertad que dificulta la planificación de trayectorias. Sin embargo, la adaptación del esquema de control de formaciones para el brazo-mano robótico nos permite reducir la complejidad a la hora de hacer la planificación de trayectorias. Al igual que antes, el sistema se basa en el uso de Fast Marching Square. Además, se ha construido un esquema completo que permite modelar el entorno, calcular posibles posiciones para el agarre, y planificar los movimientos para realizarlo. Todo ello ha sido implementado en el robot Manfred, realizando pruebas de agarre con objetos reales. Los resultados muestran el potencial del uso de este esquema de control, dejando lugar para mejoras, fundamentalmente en el apartado de la modelización de objetos y en el cálculo y elección de los posibles agarres. A continuación, se trata de cerrar el lazo de control en el agarre de objetos. Una vez un sistema robótico ha realizado los movimientos necesarios para obtener un agarre estable, la posición final del objeto dentro de la mano resulta, en la mayoría de las ocasiones, distinta de la que se había planificado. Este hecho es debido a la acumulación de fallos en los sistemas de percepción y modelado del entorno, y los de planificación y ejecución de movimientos. Por ello, se propone un sistema Bayesiano basado en un filtro de partículas que, teniendo en cuenta la posición de la palma y los dedos de la mano, los datos de sensores táctiles y la forma del objeto, estima la posición del objeto dentro de la mano. El sistema parte de una posición inicial conocida, y empieza a ejecutarse después del primer contacto entre los dedos y el objeto, de manera que sea capaz de detectar los movimientos que se producen al realizar la fuerza necesaria para estabilizar el agarre. Los resultados muestran la validez del método. Sin embargo, también queda claro que, usando únicamente la información táctil y de posición, hay grados de libertad que no se pueden determinar, por lo que, para el futuro, resultaría aconsejable la combinación de este sistema con otro basado en visión. Finalmente se incluyen 2 anexos que profundizan en la implementación de la solución del algoritmo de Fast Marching y la presentación de los sistemas robóticos reales que se han usado en las distintas pruebas de la tesis.Programa Oficial de Doctorado en Ingeniería Eléctrica, Electrónica y AutomáticaPresidente: Carlos Balaguer Bernaldo de Quirós.- Secretario: Raúl Suárez Feijoo.- Vocal: Pedro U. Lim