A Stochastic Model of Plausibility in Live-Virtual-Constructive Environments

Distributed live-virtual-constructive simulation promises a number of benefits for the test and evaluation community, including reduced costs, access to simulations of limited availability assets, the ability to conduct large-scale multi-service test events, and recapitalization of existing simulation investments. However, geographically distributed systems are subject to fundamental state consistency limitations that make assessing the data quality of live-virtual-constructive experiments difficult. This research presents a data quality model based on the notion of plausible interaction outcomes. This model explicitly accounts for the lack of absolute state consistency in distributed real-time systems and offers system designers a means of estimating data quality and fitness for purpose. Experiments with World of Warcraft player trace data validate the plausibility model and exceedance probability estimates. Additional experiments with synthetic data illustrate the model\u27s use in ensuring fitness for purpose of live-virtual-constructive simulations and estimating the quality of data obtained from live-virtual-constructive experiments

Learning Matchable Image Transformations for Long-term Metric Visual Localization

Long-term metric self-localization is an essential capability of autonomous mobile robots, but remains challenging for vision-based systems due to appearance changes caused by lighting, weather, or seasonal variations. While experience-based mapping has proven to be an effective technique for bridging the `appearance gap,' the number of experiences required for reliable metric localization over days or months can be very large, and methods for reducing the necessary number of experiences are needed for this approach to scale. Taking inspiration from color constancy theory, we learn a nonlinear RGB-to-grayscale mapping that explicitly maximizes the number of inlier feature matches for images captured under different lighting and weather conditions, and use it as a pre-processing step in a conventional single-experience localization pipeline to improve its robustness to appearance change. We train this mapping by approximating the target non-differentiable localization pipeline with a deep neural network, and find that incorporating a learned low-dimensional context feature can further improve cross-appearance feature matching. Using synthetic and real-world datasets, we demonstrate substantial improvements in localization performance across day-night cycles, enabling continuous metric localization over a 30-hour period using a single mapping experience, and allowing experience-based localization to scale to long deployments with dramatically reduced data requirements.Comment: In IEEE Robotics and Automation Letters (RA-L) and presented at the IEEE International Conference on Robotics and Automation (ICRA'20), Paris, France, May 31-June 4, 202

Examining the Effects of Time-Space Measures on the Hybrid Strategy Model in Networked Virtual Environments

Scalability is an important issue in the design of networked virtual environments (NVEs). In order to achieve scalability, it is essential to minimise the network traffic required to maintain overall consistency in the NVE. A popular method of achieving this is via entity behaviour prediction mechanisms, such as dead reckoning and the hybrid strategy model (HSM). Typically, the performance of such mechanisms is rated by the number of network packets they generate. However, it is also important that their impact on overall consistency is investigated. Absolute consistency is the degree to which different views of a NVE on remote hosts correspond. In previous work, it was shown that the use of a spatial threshold with dead reckoning can result in unbounded local absolute consistency. A solution that employed a time-space error threshold measure was shown to remedy this issue. In this paper, the scope of the time-space measure is extended to include the HSM. It is shown how the HSM can also result in unbounded local absolute inconsistency. A solution that once again incorporates the time-space threshold is examined. However, this approach results in a significant increase in network traffic. To resolve this, a novel extension to the HSM algorithm is presented, which is demonstrated to reduce network traffic, whilst still maintaining a low level of local absolute inconsistency

An Information-Theoretic Framework for Consistency Maintenance in Distributed Interactive Applications

Distributed Interactive Applications (DIAs) enable geographically dispersed users to interact with each other in a virtual environment. A key factor to the success of a DIA is the maintenance of a consistent view of the shared virtual world for all the participants. However, maintaining consistent states in DIAs is difficult under real networks. State changes communicated by messages over such networks suffer latency leading to inconsistency across the application. Predictive Contract Mechanisms (PCMs) combat this problem through reducing the number of messages transmitted in return for perceptually tolerable inconsistency. This thesis examines the operation of PCMs using concepts and methods derived from information theory. This information theory perspective results in a novel information model of PCMs that quantifies and analyzes the efficiency of such methods in communicating the reduced state information, and a new adaptive multiple-model-based framework for improving consistency in DIAs. The first part of this thesis introduces information measurements of user behavior in DIAs and formalizes the information model for PCM operation. In presenting the information model, the statistical dependence in the entity state, which makes using extrapolation models to predict future user behavior possible, is evaluated. The efficiency of a PCM to exploit such predictability to reduce the amount of network resources required to maintain consistency is also investigated. It is demonstrated that from the information theory perspective, PCMs can be interpreted as a form of information reduction and compression. The second part of this thesis proposes an Information-Based Dynamic Extrapolation Model for dynamically selecting between extrapolation algorithms based on information evaluation and inferred network conditions. This model adapts PCM configurations to both user behavior and network conditions, and makes the most information-efficient use of the available network resources. In doing so, it improves PCM performance and consistency in DIAs

Virtual Reality Games for Motor Rehabilitation

This paper presents a fuzzy logic based method to track user satisfaction without the need for devices to monitor users physiological conditions. User satisfaction is the key to any product’s acceptance; computer applications and video games provide a unique opportunity to provide a tailored environment for each user to better suit their needs. We have implemented a non-adaptive fuzzy logic model of emotion, based on the emotional component of the Fuzzy Logic Adaptive Model of Emotion (FLAME) proposed by El-Nasr, to estimate player emotion in UnrealTournament 2004. In this paper we describe the implementation of this system and present the results of one of several play tests. Our research contradicts the current literature that suggests physiological measurements are needed. We show that it is possible to use a software only method to estimate user emotion

An Adaptive Human Activity-Aided Hand-Held Smartphone-Based Pedestrian Dead Reckoning Positioning System

Pedestrian dead reckoning (PDR), enabled by smartphones’ embedded inertial sensors, is widely applied as a type of indoor positioning system (IPS). However, traditional PDR faces two challenges to improve its accuracy: lack of robustness for different PDR-related human activities and positioning error accumulation over elapsed time. To cope with these issues, we propose a novel adaptive human activity-aided PDR (HAA-PDR) IPS that consists of two main parts, human activity recognition (HAR) and PDR optimization. (1) For HAR, eight different locomotion-related activities are divided into two classes: steady-heading activities (ascending/descending stairs, stationary, normal walking, stationary stepping, and lateral walking) and non-steady-heading activities (door opening and turning). A hierarchical combination of a support vector machine (SVM) and decision tree (DT) is used to recognize steady-heading activities. An autoencoder-based deep neural network (DNN) and a heading range-based method to recognize door opening and turning, respectively. The overall HAR accuracy is over 98.44%. (2) For optimization methods, a process automatically sets the parameters of the PDR differently for different activities to enhance step counting and step length estimation. Furthermore, a method of trajectory optimization mitigates PDR error accumulation utilizing the non-steady-heading activities. We divided the trajectory into small segments and reconstructed it after targeted optimization of each segment. Our method does not use any a priori knowledge of the building layout, plan, or map. Finally, the mean positioning error of our HAA-PDR in a multilevel building is 1.79 m, which is a significant improvement in accuracy compared with a baseline state-of-the-art PDR system

Quality of Service Impact on Edge Physics Simulations for VR

—Mobile HMDs must sacrifice compute performance to achieve ergonomic and power requirements for extended use. Consequently, applications must either reduce rendering and simulation complexity - along with the richness of the experience - or offload complexity to a server. Within the context of edge-computing, a popular way to do this is through render streaming. Render streaming has been demonstrated for desktops and consoles. It has also been explored for HMDs. However, the latency requirements of head tracking make this application much more challenging. While mobile GPUs are not yet as capable as their desktop counterparts, we note that they are becoming more powerful and efficient. With the hard requirements of VR, it is worth continuing to investigate what schemes could optimally balance load, latency and quality. We propose an alternative we call edge-physics: streaming at the scene-graph level from a simulation running on edge-resources, analogous to cluster rendering. Scene streaming is not only straightforward, but compute and bandwidth efficient. The most demanding loops run locally. Jobs that hit the power-wall of mobile CPUs are off-loaded, while improving GPUs are leveraged, maximising compute utilisation. In this paper we create a prototypical implementation and evaluate its potential in terms of fidelity, bandwidth and performance. We show that an effective system which maintains high consistencies on typical edge-links can be easily built, but that some traditional concepts are not applicable, and a better understanding of the perception of motion is required to evaluate such a system comprehensively

Design and validation of decision and control systems in automated driving

xxvi, 148 p.En la última década ha surgido una tendencia creciente hacia la automatización de los vehículos, generando un cambio significativo en la movilidad, que afectará profundamente el modo de vida de las personas, la logística de mercancías y otros sectores dependientes del transporte. En el desarrollo de la conducción automatizada en entornos estructurados, la seguridad y el confort, como parte de las nuevas funcionalidades de la conducción, aún no se describen de forma estandarizada. Dado que los métodos de prueba utilizan cada vez más las técnicas de simulación, los desarrollos existentes deben adaptarse a este proceso. Por ejemplo, dado que las tecnologías de seguimiento de trayectorias son habilitadores esenciales, se deben aplicar verificaciones exhaustivas en aplicaciones relacionadas como el control de movimiento del vehículo y la estimación de parámetros. Además, las tecnologías en el vehículo deben ser lo suficientemente robustas para cumplir con los requisitos de seguridad, mejorando la redundancia y respaldar una operación a prueba de fallos. Considerando las premisas mencionadas, esta Tesis Doctoral tiene como objetivo el diseño y la implementación de un marco para lograr Sistemas de Conducción Automatizados (ADS) considerando aspectos cruciales, como la ejecución en tiempo real, la robustez, el rango operativo y el ajuste sencillo de parámetros. Para desarrollar las aportaciones relacionadas con este trabajo, se lleva a cabo un estudio del estado del arte actual en tecnologías de alta automatización de conducción. Luego, se propone un método de dos pasos que aborda la validación de ambos modelos de vehículos de simulación y ADS. Se introducen nuevas formulaciones predictivas basadas en modelos para mejorar la seguridad y el confort en el proceso de seguimiento de trayectorias. Por último, se evalúan escenarios de mal funcionamiento para mejorar la seguridad en entornos urbanos, proponiendo una estrategia alternativa de estimación de posicionamiento para minimizar las condiciones de riesgo