Deep Predictive Models for Collision Risk Assessment in Autonomous Driving

In this paper, we investigate a predictive approach for collision risk assessment in autonomous and assisted driving. A deep predictive model is trained to anticipate imminent accidents from traditional video streams. In particular, the model learns to identify cues in RGB images that are predictive of hazardous upcoming situations. In contrast to previous work, our approach incorporates (a) temporal information during decision making, (b) multi-modal information about the environment, as well as the proprioceptive state and steering actions of the controlled vehicle, and (c) information about the uncertainty inherent to the task. To this end, we discuss Deep Predictive Models and present an implementation using a Bayesian Convolutional LSTM. Experiments in a simple simulation environment show that the approach can learn to predict impending accidents with reasonable accuracy, especially when multiple cameras are used as input sources.Comment: 8 pages, 4 figure

Alternative Strategies For Optimal Water Quality Sensor Placement In Drinking Water Distribution Networks

The most commonly applied strategies for optimal water quality sensor placement in drinking water distribution systems are aimed at contamination early warning systems. These strategies aim to minimize the number of people affected in case of a deliberate contamination of drinking water in the distribution system, and provide a valuable tool. A number of factors which are usually not taken into account, including the response strategy to the identification of a contamination event, the fallibility of sensors and changes in network configuration (valve manipulation) and operation, may affect the results of these strategies. Since the quickness and effectiveness of a response is generally also a function of the location of the contamination event (both source and first detection), knowledge on the response strategy should also be part of the sensor placement optimization methodology. Hydraulic models generally play a central role in the optimization of sensor placement. The validity of their computations strongly depends upon accurate and up to date information on the network, which is often not fully available (e.g. unregistered valve status changes). Therefore, a sensor network configuration which is somewhat robust to these issues is desirable. Besides contamination early warning systems, there are several other reasons for placing water quality sensors in distribution network, including process control and monitoring, regulatory monitoring, etc. These require a different approach to optimization of the sensor network in terms of sensor locations. In this paper, we demonstrate the application of different sensor location optimization strategies in drinking water distribution networks, with aims such as minimization of the number of people affected, maximization of distribution network coverage, optimization of sensor network robustness and optimization of contamination source identification. We present and compare results of these different approaches applied to hydraulic models of a real drinking water distribution network in the Netherlands

Application of Advanced Early Warning Systems with Adaptive Protection

This project developed and field-tested two methods of Adaptive Protection systems utilizing synchrophasor data. One method detects conditions of system stress that can lead to unintended relay operation, and initiates a supervisory signal to modify relay response in real time to avoid false trips. The second method detects the possibility of false trips of impedance relays as stable system swings “encroach” on the relays’ impedance zones, and produces an early warning so that relay engineers can re-evaluate relay settings. In addition, real-time synchrophasor data produced by this project was used to develop advanced visualization techniques for display of synchrophasor data to utility operators and engineers

Multisensor Data Fusion Strategies for Advanced Driver Assistance Systems

Multisensor data fusion and integration is a rapidly evolving research area that requires interdisciplinary knowledge in control theory, signal processing, artificial intelligence, probability and statistics, etc. Multisensor data fusion refers to the synergistic combination of sensory data from multiple sensors and related information to provide more reliable and accurate information than could be achieved using a single, independent sensor (Luo et al., 2007). Actually Multisensor data fusion is a multilevel, multifaceted process dealing with automatic detection, association, correlation, estimation, and combination of data from single and multiple information sources. The results of data fusion process help users make decisions in complicated scenarios. Integration of multiple sensor data was originally needed for military applications in ocean surveillance, air-to air and surface-to-air defence, or battlefield intelligence. More recently, multisensor data fusion has also included the nonmilitary fields of remote environmental sensing, medical diagnosis, automated monitoring of equipment, robotics, and automotive systems (Macci et al., 2008). The potential advantages of multisensor fusion and integration are redundancy, complementarity, timeliness, and cost of the information. The integration or fusion of redundant information can reduce overall uncertainty and thus serve to increase the accuracy with which the features are perceived by the system. Multiple sensors providing redundant information can also serve to increase reliability in the case of sensor error or failure. Complementary information from multiple sensors allows features in the environment to be perceived that are impossible to perceive using just the information from each individual sensor operating separately. (Luo et al., 2007) Besides, driving as one of our daily activities is a complex task involving a great amount of interaction between driver and vehicle. Drivers regularly share their attention among operating the vehicle, monitoring traffic and nearby obstacles, and performing secondary tasks such as conversing, adjusting comfort settings (e.g. temperature, radio.) The complexity of the task and uncertainty of the driving environment make driving a very dangerous task, as according to a study in the European member states, there are more than 1,200,000 traffic accidents a year with over 40,000 fatalities. This fact points up the growing demand for automotive safety systems, which aim for a significant contribution to the overall road safety (Tatschke et al., 2006). Therefore, recently, there are an increased number of research activities focusing on the Driver Assistance System (DAS) development in order O pe n A cc es s D at ab as e w w w .in te ch w eb .o r

ADVANCED MODELING AND EFFICIENT OPTIMIZATION METHODS FOR REAL-TIME RESPONSE IN WATER NETWORKS

In response to a contamination incident in water distribution networks, effective mitigation procedures must be planned. Disinfectant booster stations can be used to neutralize a variety of contaminant and protect the public. In this thesis, two methods are proposed for the optimal placement of booster stations. Since the contaminant species is unknown a priori, these two methods differ in how they model the unknown reaction between the contaminant and the disinfectant. Both methods employ Mixed-Integer Linear Programming to minimize the expected impact over a large set of potential contamination scenarios that consider the uncertainty in the location and time of the incident. To make the optimal booster placement problem tractable for realistic large-scale networks, we exploit the symmetry in the problem structure to drastically reduce the problem size. The results highlight the effectiveness of booster stations in reducing the overall impact on the population, which is measured using two different metrics - mass of contaminant consumed, and population dosed above a cumulative mass threshold. Additionally, we also study the importance of various factors that influence the performance of disinfectant booster stations (e.g., sensor placement, contaminant reactivity and toxicity, etc.)