Biologically Inspired Guidance for Autonomous Systems

Animals and humans can perform purposeful actions using only their senses. Birds can perch on branches; bats use echolocation to hunt prey and humans are able to control vehicles. It must therefore be possible for autonomous systems to replicate this autonomous behaviour if an understanding of how animals and humans perceive their environment and guide their movements is obtained. Tau theory offers a potential explanation as to how this is achieved in nature. Tau theory posits, that in combination with the so-called ‘motion guides’, animals and humans perform useful movements by closing action-gaps, i.e. gaps between the current state and a desired state. The theory suggests that the variabl

An enactive approach to perceptual augmentation in mobility

Event predictions are an important constituent of situation awareness, which is a key objective for many applications in human-machine interaction, in particular in driver assistance. This work focuses on facilitating event predictions in dynamic environments. Its primary contributions are 1) the theoretical development of an approach for enabling people to expand their sampling and understanding of spatiotemporal information, 2) the introduction of exemplary systems that are guided by this approach, 3) the empirical investigation of effects functional prototypes of these systems have on human behavior and safety in a range of simulated road traffic scenarios, and 4) a connection of the investigated approach to work on cooperative human-machine systems. More specific contents of this work are summarized as follows: The first part introduces several challenges for the formation of situation awareness as a requirement for safe traffic participation. It reviews existing work on these challenges in the domain of driver assistance, resulting in an identification of the need to better inform drivers about dynamically changing aspects of a scene, including event probabilities, spatial and temporal distances, as well as a suggestion to expand the scope of assistance systems to start informing drivers about relevant scene elements at an early stage. Novel forms of assistance can be guided by different fundamental approaches that target either replacement, distribution, or augmentation of driver competencies. A subsequent differentiation of these approaches concludes that an augmentation-guided paradigm, characterized by an integration of machine capabilities into human feedback loops, can be advantageous for tasks that rely on active user engagement, the preservation of awareness and competence, and the minimization of complexity in human- machine interaction. Consequently, findings and theories about human sensorimotor processes are connected to develop an enactive approach that is consistent with an augmentation perspective on human-machine interaction. The approach is characterized by enabling drivers to exercise new sensorimotor processes through which safety-relevant spatiotemporal information may be sampled. In the second part of this work, a concept and functional prototype for augmenting the perception of traffic dynamics is introduced as a first example for applying principles of this enactive approach. As a loose expression of functional biomimicry, the prototype utilizes a tactile inter- face that communicates temporal distances to potential hazards continuously through stimulus intensity. In a driving simulator study, participants quickly gained an intuitive understanding of the assistance without instructions and demonstrated higher driving safety in safety-critical highway scenarios. But this study also raised new questions such as whether benefits are due to a continuous time-intensity encoding and whether utility generalizes to intersection scenarios or highway driving with low criticality events. Effects of an expanded assistance prototype with lane-independent risk assessment and an option for binary signaling were thus investigated in a separate driving simulator study. Subjective responses confirmed quick signal understanding and a perception of spatial and temporal stimulus characteristics. Surprisingly, even for a binary assistance variant with a constant intensity level, participants reported perceiving a danger-dependent variation in stimulus intensity. They further felt supported by the system in the driving task, especially in difficult situations. But in contrast to the first study, this support was not expressed by changes in driving safety, suggesting that perceptual demands of the low criticality scenarios could be satisfied by existing driver capabilities. But what happens if such basic capabilities are impaired, e.g., due to poor visibility conditions or other situations that introduce perceptual uncertainty? In a third driving simulator study, the driver assistance was employed specifically in such ambiguous situations and produced substantial safety advantages over unassisted driving. Additionally, an assistance variant that adds an encoding of spatial uncertainty was investigated in these scenarios. Participants had no difficulties to understand and utilize this added signal dimension to improve safety. Despite being inherently less informative than spatially precise signals, users rated uncertainty-encoding signals as equally useful and satisfying. This appreciation for transparency of variable assistance reliability is a promising indicator for the feasibility of an adaptive trust calibration in human-machine interaction and marks one step towards a closer integration of driver and vehicle capabilities. A complementary step on the driver side would be to increase transparency about the driver’s mental states and thus allow for mutual adaptation. The final part of this work discusses how such prerequisites of cooperation may be achieved by monitoring mental state correlates observable in human behavior, especially in eye movements. Furthermore, the outlook for an addition of cooperative features also raises new questions about the bounds of identity as well as practical consequences of human-machine systems in which co-adapting agents may exercise sensorimotor processes through one another.Die Vorhersage von Ereignissen ist ein Bestandteil des Situationsbewusstseins, dessen Unterstützung ein wesentliches Ziel diverser Anwendungen im Bereich Mensch-Maschine Interaktion ist, insbesondere in der Fahrerassistenz. Diese Arbeit zeigt Möglichkeiten auf, Menschen bei Vorhersagen in dynamischen Situationen im Straßenverkehr zu unterstützen. Zentrale Beiträge der Arbeit sind 1) eine theoretische Auseinandersetzung mit der Aufgabe, die menschliche Wahrnehmung und das Verständnis von raum-zeitlichen Informationen im Straßenverkehr zu erweitern, 2) die Einführung beispielhafter Systeme, die aus dieser Betrachtung hervorgehen, 3) die empirische Untersuchung der Auswirkungen dieser Systeme auf das Nutzerverhalten und die Fahrsicherheit in simulierten Verkehrssituationen und 4) die Verknüpfung der untersuchten Ansätze mit Arbeiten an kooperativen Mensch-Maschine Systemen. Die Arbeit ist in drei Teile gegliedert: Der erste Teil stellt einige Herausforderungen bei der Bildung von Situationsbewusstsein vor, welches für die sichere Teilnahme am Straßenverkehr notwendig ist. Aus einem Vergleich dieses Überblicks mit früheren Arbeiten zeigt sich, dass eine Notwendigkeit besteht, Fahrer besser über dynamische Aspekte von Fahrsituationen zu informieren. Dies umfasst unter anderem Ereigniswahrscheinlichkeiten, räumliche und zeitliche Distanzen, sowie eine frühere Signalisierung relevanter Elemente in der Umgebung. Neue Formen der Assistenz können sich an verschiedenen grundlegenden Ansätzen der Mensch-Maschine Interaktion orientieren, die entweder auf einen Ersatz, eine Verteilung oder eine Erweiterung von Fahrerkompetenzen abzielen. Die Differenzierung dieser Ansätze legt den Schluss nahe, dass ein von Kompetenzerweiterung geleiteter Ansatz für die Bewältigung jener Aufgaben von Vorteil ist, bei denen aktiver Nutzereinsatz, die Erhaltung bestehender Kompetenzen und Situationsbewusstsein gefordert sind. Im Anschluss werden Erkenntnisse und Theorien über menschliche sensomotorische Prozesse verknüpft, um einen enaktiven Ansatz der Mensch-Maschine Interaktion zu entwickeln, der einer erweiterungsgeleiteten Perspektive Rechnung trägt. Dieser Ansatz soll es Fahrern ermöglichen, sicherheitsrelevante raum-zeitliche Informationen über neue sensomotorische Prozesse zu erfassen. Im zweiten Teil der Arbeit wird ein Konzept und funktioneller Prototyp zur Erweiterung der Wahrnehmung von Verkehrsdynamik als ein erstes Beispiel zur Anwendung der Prinzipien dieses enaktiven Ansatzes vorgestellt. Dieser Prototyp nutzt vibrotaktile Aktuatoren zur Kommunikation von Richtungen und zeitlichen Distanzen zu möglichen Gefahrenquellen über die Aktuatorposition und -intensität. Teilnehmer einer Fahrsimulationsstudie waren in der Lage, in kurzer Zeit ein intuitives Verständnis dieser Assistenz zu entwickeln, ohne vorher über die Funktionalität unterrichtet worden zu sein. Sie zeigten zudem ein erhöhtes Maß an Fahrsicherheit in kritischen Verkehrssituationen. Doch diese Studie wirft auch neue Fragen auf, beispielsweise, ob der Sicherheitsgewinn auf kontinuierliche Distanzkodierung zurückzuführen ist und ob ein Nutzen auch in weiteren Szenarien vorliegen würde, etwa bei Kreuzungen und weniger kritischem longitudinalen Verkehr. Um diesen Fragen nachzugehen, wurden Effekte eines erweiterten Prototypen mit spurunabhängiger Kollisionsprädiktion, sowie einer Option zur binären Kommunikation möglicher Kollisionsrichtungen in einer weiteren Fahrsimulatorstudie untersucht. Auch in dieser Studie bestätigen die subjektiven Bewertungen ein schnelles Verständnis der Signale und eine Wahrnehmung räumlicher und zeitlicher Signalkomponenten. Überraschenderweise berichteten Teilnehmer größtenteils auch nach der Nutzung einer binären Assistenzvariante, dass sie eine gefahrabhängige Variation in der Intensität von taktilen Stimuli wahrgenommen hätten. Die Teilnehmer fühlten sich mit beiden Varianten in der Fahraufgabe unterstützt, besonders in Situationen, die von ihnen als kritisch eingeschätzt wurden. Im Gegensatz zur ersten Studie hat sich diese gefühlte Unterstützung nur geringfügig in einer messbaren Sicherheitsveränderung widergespiegelt. Dieses Ergebnis deutet darauf hin, dass die Wahrnehmungsanforderungen der Szenarien mit geringer Kritikalität mit den vorhandenen Fahrerkapazitäten erfüllt werden konnten. Doch was passiert, wenn diese Fähigkeiten eingeschränkt werden, beispielsweise durch schlechte Sichtbedingungen oder Situationen mit erhöhter Ambiguität? In einer dritten Fahrsimulatorstudie wurde das Assistenzsystem in speziell solchen Situationen eingesetzt, was zu substantiellen Sicherheitsvorteilen gegenüber unassistiertem Fahren geführt hat. Zusätzlich zu der vorher eingeführten Form wurde eine neue Variante des Prototyps untersucht, welche räumliche Unsicherheiten der Fahrzeugwahrnehmung in taktilen Signalen kodiert. Studienteilnehmer hatten keine Schwierigkeiten, diese zusätzliche Signaldimension zu verstehen und die Information zur Verbesserung der Fahrsicherheit zu nutzen. Obwohl sie inherent weniger informativ sind als räumlich präzise Signale, bewerteten die Teilnehmer die Signale, die die Unsicherheit übermitteln, als ebenso nützlich und zufriedenstellend. Solch eine Wertschätzung für die Transparenz variabler Informationsreliabilität ist ein vielversprechendes Indiz für die Möglichkeit einer adaptiven Vertrauenskalibrierung in der Mensch-Maschine Interaktion. Dies ist ein Schritt hin zur einer engeren Integration der Fähigkeiten von Fahrer und Fahrzeug. Ein komplementärer Schritt wäre eine Erweiterung der Transparenz mentaler Zustände des Fahrers, wodurch eine wechselseitige Anpassung von Mensch und Maschine möglich wäre. Der letzte Teil dieser Arbeit diskutiert, wie diese Transparenz und weitere Voraussetzungen von Mensch-Maschine Kooperation erfüllt werden könnten, indem etwa Korrelate mentaler Zustände, insbesondere über das Blickverhalten, überwacht werden. Des Weiteren ergeben sich mit Blick auf zusätzliche kooperative Fähigkeiten neue Fragen über die Definition von Identität, sowie über die praktischen Konsequenzen von Mensch-Maschine Systemen, in denen ko-adaptive Agenten sensomotorische Prozesse vermittels einander ausüben können

The spectral energy distribution of polars

Magnetic cataclysmic variables, also called AM Her stars or 'polars', are close binaries with mass transfer (accretion), consisting of a late-type main-sequence star (commonly called secondary)and a more massive white dwarf with a strong magnetic field. The late-type star is losing mass to the white dwarf. The overflowing matter firstly follows a ballistic trajectory and is then captured by the magnetic field of the white dwarf and guided along the field lines onto the white dwarf. The released gravitational energy is radiated away in all wavelength ranges from infra-red to X-ray. The observed light of an AM Her system is composed of the contributions from the stellar components and the contributions of the accretion column and the accretion region on the white dwarf. The last two components are not only depending on the actual mass transfer rate but also from the spatial orientation of the magnetic field. Since the white dwarf is locked in synchronous rotation, this leads to emission that varies with orbital phase. The decomposition of the observed light from an AM Her system makes it possible to analyse the different components within this system...thesi

Effects of cognitive tasks on car drivers’ behaviors and physiological responses

The effects of drivers’ engagement in cognitive tasks (i.e., non-visual, cognitively loading activities unrelated to the task of driving) are debated and unclear. Numerous experiments show impaired driver behaviors, yet naturalistic studies typically do not find an increased crash risk. In the future, autonomous driving (AD) is expected to improve traffic safety while allowing safe engagement in cognitive (and other) tasks. Having the opportunity to perform non-driving related tasks while traveling may then motivate drivers to use AD, provided they can actually engage in the tasks. Unfortunately, research on drivers’ engagement in cognitive tasks suffers severe methodological limitations since reliable and unintrusive measures of cognitive load are lacking.The aim of this thesis is therefore to advance the understanding of task-induced cognitive load in the context of traffic safety. This aim is split into two objectives: A) to better understand how drivers’ involvement in cognitive tasks can affect safety-relevant driver behaviors and decisions and B) to provide methodological guidance about assessing cognitive load in drivers using physiological measures.To accomplish Objective A, effects of cognitive tasks on driver behaviors were studied during routine driving and in a safety-critical event in a driving simulator. Also, drivers’ ability to engage in a non-driving related task while using AD in real traffic was explored. In line with the cognitive control hypothesis (Engstr\uf6m et al., 2017), it was found that cognitive tasks negatively affected driver behaviors in situations where cognitive control was needed, for example in intersections—but not in a lead vehicle braking scenario where responses were triggered automatically by visual looming. It was also found that although the number of off-path glances decreased during cognitive load, the timing of the remaining glances was unaffected. Clearly, cognitive load has different effects on different mechanisms. When using AD, drivers were indeed capable of engaging in a non-driving related task—suggesting that AD will be able to fulfill drivers’ desire to perform such tasks while traveling, which may motivate AD usage and thus improve traffic safety (given that AD is truly safer than manual driving). Finally, a simulator study addressing Objective B showed that the measurability of cognitive load was greatly improved by recognizing that multiple coexisting mental responses give rise to different physiological responses. This approach can provide less context-dependent measurements and allows for a better, more detailed understanding of the effects of cognitive tasks.These findings can help improve traffic safety—both by being used in system development, and as part of the systems themselves

DEVELOPMENT OF A NOVEL VEHICLE GUIDANCE SYSTEM: VEHICLE RISK MITIGATION AND CONTROL

Over a half of fatal vehicular crashes occur due to vehicles leaving their designated travel lane and entering other lanes or leaving the roadway. Lane departure accidents also result in billions of dollars in cost to society. Recent vehicle technology research into driver assistance and vehicle autonomy has developed to assume various driving tasks. However, these systems are do not work for all roads and travel conditions. The purpose of this research study was to begin the development a novel vehicle guidance approach, specifically studying how the vehicle interacts with the system to detect departures and control the vehicle A literature review was conducted, covering topics such as vehicle sensors, control methods, environment recognition, driver assistance methods, vehicle autonomy methods, communication, positioning, and regulations. Researchers identified environment independence, recognition accuracy, computational load, and industry collaboration as areas of need in intelligent transportation. A novel method of vehicle guidance was conceptualized known as the MwRSF Smart Barrier. The vision of this method is to send verified road path data, based AASHTO design and vehicle dynamic aspects, to guide the vehicle. To further development research was done to determine various aspects of vehicle dynamics and trajectory trends can be used to predict departures and control the vehicle. Tire-to-road friction capacity and roll stability were identified as traits that can be prevented with future road path knowledge. Road departure characteristics were mathematically developed. It was shown that lateral departure, orientation error, and curvature error are parametrically linked, and discussion was given for these metrics as the basis for of departure prediction. A three parallel PID controller for modulating vehicle steering inputs to a virtual vehicle to remain on the path was developed. The controller was informed by a matrix of XY road coordinates, road curvature and future road curvature and was able to keep the simulated vehicle to within 1 in of the centerline target path. Recommendations were made for the creation of warning modules, threshold levels, improvements to be applied to vehicle controller, and ultimately full-scale testing. Advisor: Cody S. Stoll

Research on the System Safety Management in Urban Railway

Nowadays, rail transport has become one of the most widely utilised forms of transport thanks to its high safety level, large capacity, and cost-effectiveness. With the railway network's continuous development, including urban rail transit, one of the major areas of increasing attention and demand is ensuring safety or risk management in operation long-term remains for the whole life cycle by scientific tools, management of railway operation (Martani 2017), specifically in developed and developing countries like Vietnam. The situation in Vietnam demonstrates that the national mainline railway network has been built and operated entirely in a single narrow gauge (1000mm) since the previous century, with very few updates of manual operating technology. This significantly highlights that up to now, the conventional technique for managing the safety operation in general, and collision in particular, of the current Vietnamese railway system, including its subsystems, is only accident statistics which is not a scientific-based tool as the others like risk identify and analyse methods, risk mitigation…, that are already available in many countries. Accident management of Vietnam Railways is limited and responsible for accident statistics analysis to avoid and minimise the harm caused by phenomena that occur only after an accident. Statistical analysis of train accident case studies in Vietnam railway demonstrates that, because hazards and failures that could result in serious system occurrences (accidents and incidents) have not been identified, recorded, and evaluated to conduct safety-driven risk analysis using a well-suited assessment methodology, risk prevention and control cannot be achieved. Not only is it hard to forecast and avoid events, but it may also raise the chance and amount of danger, as well as the severity of the later effects. As a result, Vietnam's railway system has a high number of accidents and failure rates. For example, Vietnam Rail-ways' mainline network accounted for approximately 200 railway accidents in 2018, a 3% increase over the previous year, including 163 collisions between trains and road vehicles/persons, resulting in more than 100 fatalities and more than 150 casualties; 16 accidents, including almost derailments, the signal passed at danger… without fatality or casual-ty, but significant damage to rolling stock and track infrastructure (VR 2021). Focusing and developing a new standardised framework for safety management and availability of railway operation in Vietnam is required in view of the rapid development of rail urban transport in the country in recent years (VmoT 2016; VmoT 2018). UMRT Line HN2A in southwest Hanoi is the country's first elevated light rail transit line, which was completed and officially put into revenue service in November 2021. This greatly highlights that up to the current date, the UMRT Line HN2A is the first and only railway line in Vietnam with operational safety assessment launched for the first time and long-term remains for the whole life cycle. The fact that the UMRT Hanoi has a large capacity, more complicated rolling stock and infrastructure equipment, as well as a modern communica-tion-based train control (CBTC) signalling system and automatic train driving without the need for operator intervention (Lindqvist 2006), are all advantages. Developing a compatible and integrated safety management system (SMS) for adaption to the safety operating requirements of this UMRT is an important major point of concern, and this should be proven. In actuality, the system acceptance and safety certification phase for Metro Line HN2A prolonged up to 2.5 years owing to the identification of difficulties with noncompliance to safety requirements resulting from inadequate SMS documents and risk assessment. These faults and hazards have developed during the manufacturing and execution of the project; it is impossible to go back in time to correct them, and it is also impossible to ignore the project without assuming responsibility for its management. At the time of completion, the HN2A metro line will have required an expenditure of up to $868 million, thus it is vital to create measures to prevent system failure and assure passenger safety. This dissertation has reviewed the methods to solve the aforementioned challenges and presented a solution blueprint to attain the European standard level of system safety in three-phase as in the following: • Phase 1: applicable for lines that are currently in operation, such as Metro Line HN2A. Focused on operational and maintenance procedures, as well as a training plan for railway personnel, in order to enhance human performance. Complete and update the risk assessment framework for Metro Line HN2A. The dissertation's findings are described in these applications. • Phase 2: applicable for lines that are currently in construction and manufacturing, such as Metro Line HN3, Line HN2, HCMC Line 1 and Line 2. Continue refining and enhancing engineering management methods introduced during Phase 1. On the basis of the risk assessment by manufacturers (Line HN3, HCMC Line 2 with European manufacturers) and the risk assessment framework described in Chapter 4, a risk management plan for each line will be developed. Building Accident database for risk assessment research and development. • Phase 3: applicable for lines that are currently in planning. Enhance safety requirements and life-cycle management. Building a proactive Safety Culture step by step for the railway industry. This material is implemented gradually throughout all three phases, beginning with the creation of the concept and concluding with an improvement in the attitude of railway personnel on the HN2A line. In addition to this overview, Chapters 4 through Chapter 9 of the dissertation include particular solutions for Risk assessment, Vehicle and Infrastructure Maintenance methods, Inci-dent Management procedures, and Safety Culture installation. This document focuses on constructing a system safety concept for railway personnel, providing stringent and scientific management practises to assure proper engineering conditions, to manage effectively the metro line system, and ensuring passenger safety in Hanoi's metro operatio

Teacher roles during amusement park visits – insights from observations, interviews and questionnaires

Amusement parks offer rich possibilities for physics learning, through observations and experiments that illustrate important physical principles and often involve the whole body. Amusement parks are also among the most popular school excursions, but very often the learning possibilities are underused. In this work we have studied different teacher roles and discuss how universities, parks or event managers can encourage and support teachers and schools in their efforts to make amusement park visits true learning experiences for their students

Advances in Intelligent Vehicle Control

This book is a printed edition of the Special Issue Advances in Intelligent Vehicle Control that was published in the journal Sensors. It presents a collection of eleven papers that covers a range of topics, such as the development of intelligent control algorithms for active safety systems, smart sensors, and intelligent and efficient driving. The contributions presented in these papers can serve as useful tools for researchers who are interested in new vehicle technology and in the improvement of vehicle control systems