Holistic Temporal Situation Interpretation for Traffic Participant Prediction

For a profound understanding of traffic situations including a prediction of traf- fic participants’ future motion, behaviors and routes it is crucial to incorporate all available environmental observations. The presence of sensor noise and depen- dency uncertainties, the variety of available sensor data, the complexity of large traffic scenes and the large number of different estimation tasks with diverging requirements require a general method that gives a robust foundation for the de- velopment of estimation applications. In this work, a general description language, called Object-Oriented Factor Graph Modeling Language (OOFGML), is proposed, that unifies formulation of esti- mation tasks from the application-oriented problem description via the choice of variable and probability distribution representation through to the inference method definition in implementation. The different language properties are dis- cussed theoretically using abstract examples. The derivation of explicit application examples is shown for the automated driv- ing domain. A domain-specific ontology is defined which forms the basis for four exemplary applications covering the broad spectrum of estimation tasks in this domain: Basic temporal filtering, ego vehicle localization using advanced interpretations of perceived objects, road layout perception utilizing inter-object dependencies and finally highly integrated route, behavior and motion estima- tion to predict traffic participant’s future actions. All applications are evaluated as proof of concept and provide an example of how their class of estimation tasks can be represented using the proposed language. The language serves as a com- mon basis and opens a new field for further research towards holistic solutions for automated driving

Wireless Sensor Localization: Error Modeling and Analysis for Evaluation and Precision

Wireless sensor networks (WSNs) have shown promise in a broad range of applications. One of the primary challenges in leveraging WSNs lies in gathering accurate position information for the deployed sensors while minimizing power cost. In this research, detailed background research is discussed regarding existing methods and assumptions of modeling methods and processes for estimating sensor positions. Several novel localization methods are developed by applying rigorous mathematical and statistical principles, which exploit constraining properties of the physical problem in order to produce improved location estimates. These methods are suitable for one-, two-, and three-dimensional position estimation in ascending order of difficulty and complexity. Unlike many previously existing methods, the techniques presented in this dissertation utilize practical, realistic assumptions and are progressively designed to mitigate incrementally discovered limitations. The design and results of a developed multiple-layered simulation environment are also presented that model and characterize the developed methods. The approach, developed methodologies, and software infrastructure presented in this dissertation provide a framework for future endeavors within the field of wireless sensor networks

Electroacoustic and Behavioural Evaluation of Hearing Aid Digital Signal Processing Features

Modern digital hearing aids provide an array of features to improve the user listening experience. As the features become more advanced and interdependent, it becomes increasingly necessary to develop accurate and cost-effective methods to evaluate their performance. Subjective experiments are an accurate method to determine hearing aid performance but they come with a high monetary and time cost. Four studies that develop and evaluate electroacoustic hearing aid feature evaluation techniques are presented. The first study applies a recent speech quality metric to two bilateral wireless hearing aids with various features enabled in a variety of environmental conditions. The study shows that accurate speech quality predictions are made with a reduced version of the original metric, and that a portion of the original metric does not perform well when applied to a novel subjective speech quality rating database. The second study presents a reference free (non-intrusive) electroacoustic speech quality metric developed specifically for hearing aid applications and compares its performance to a recent intrusive metric. The non-intrusive metric offers the advantage of eliminating the need for a shaped reference signal and can be used in real time applications but requires a sacrifice in prediction accuracy. The third study investigates the digital noise reduction performance of seven recent hearing aid models. An electroacoustic measurement system is presented that allows the noise and speech signals to be separated from hearing aid recordings. It is shown how this can be used to investigate digital noise reduction performance through the application of speech quality and speech intelligibility measures. It is also shown how the system can be used to quantify digital noise reduction attack times. The fourth study presents a turntable-based system to investigate hearing aid directionality performance. Two methods to extract the signal of interest are described. Polar plots are presented for a number of hearing aid models from recordings generated in both the free-field and from a head-and-torso simulator. It is expected that the proposed electroacoustic techniques will assist Audiologists and hearing researchers in choosing, benchmarking, and fine-tuning hearing aid features

Effects of Coordinated Bilateral Hearing Aids and Auditory Training on Sound Localization

This thesis has two main objectives: 1) evaluating the benefits of the bilateral coordination of the hearing aid Digital Signal Processing (DSP) features by measuring and comparing the auditory performance with and without the activation of this coordination, and 2) evaluating the benefits of acclimatization and auditory training on such auditory performance and, determining whether receiving training in one aspect of auditory performance (sound localization) would generalize to an improvement in another aspect of auditory performance (speech intelligibility in noise), and to what extent. Two studies were performed. The first study evaluated the speech intelligibility in noise and horizontal sound localization abilities in HI listeners using hearing aids that apply bilateral coordination of WDRC. A significant improvement was noted in sound localization with bilateral coordination on when compared to off, while speech intelligibility in noise did not seem to be affected. The second study was an extension of the first study, with a suitable period for acclimatization provided and then the participants were divided into training and control groups. Only the training group received auditory training. The training group performance was significantly better than the control group performance in some conditions, in both the speech intelligibility and the localization tasks. The bilateral coordination did not have significant effects on the results of the second study. This work is among the early literature to investigate the impact of bilateral coordination in hearing aids on the users’ auditory performance. Also, this work is the first to demonstrate the effect of auditory training in sound localization on the speech intelligibility performance

Survey on Mobile WiMAX- Technical Overview

Worldwide Interoperability for Microwave Access (WiMAX), is a wireless communications technology aiming to provide wireless data over long distances in a variety of ways as an alternative to cable and DSL, from point-to-point links to full mobile cellular type access. It is based on the IEEE 802.16 standard.  The goal of this deliverable is to provide an overview of the functionality and a description of the WiMAX network architecture. We also evaluate the special features of the WiMAX technology, such as the improved coverage in Non Line Of Sight (NLOS) environments, in order to examine the applicability of well-known localization techniques. Some of the advanced features such as adaptive antenna systems (AAS) which can significantly improve the performance are discussed. The performance will enable transparency of quality of service (QoS) between Mobile WiMAX and broadband wired services such as Cable and DSL. The scalable architecture, high data throughput and low cost deployment make Mobile WiMAX a leading solution for wireless broadband services. Due to “friendly ecosystem†hundreds of companies have contributed to the development of the technology. Finally, we investigate the characteristics of WiMAX technology

Early aspects: aspect-oriented requirements engineering and architecture design

This paper reports on the third Early Aspects: Aspect-Oriented Requirements Engineering and Architecture Design Workshop, which has been held in Lancaster, UK, on March 21, 2004. The workshop included a presentation session and working sessions in which the particular topics on early aspects were discussed. The primary goal of the workshop was to focus on challenges to defining methodical software development processes for aspects from early on in the software life cycle and explore the potential of proposed methods and techniques to scale up to industrial applications

Autonomous robot systems and competitions: proceedings of the 12th International Conference

This is the 2012’s edition of the scientific meeting of the Portuguese Robotics Open (ROBOTICA’ 2012). It aims to disseminate scientific contributions and to promote discussion of theories, methods and experiences in areas of relevance to Autonomous Robotics and Robotic Competitions. All accepted contributions are included in this proceedings book. The conference program has also included an invited talk by Dr.ir. Raymond H. Cuijpers, from the Department of Human Technology Interaction of Eindhoven University of Technology, Netherlands.The conference is kindly sponsored by the IEEE Portugal Section / IEEE RAS ChapterSPR-Sociedade Portuguesa de Robótic