Human Motion Trajectory Prediction: A Survey

With growing numbers of intelligent autonomous systems in human environments, the ability of such systems to perceive, understand and anticipate human behavior becomes increasingly important. Specifically, predicting future positions of dynamic agents and planning considering such predictions are key tasks for self-driving vehicles, service robots and advanced surveillance systems. This paper provides a survey of human motion trajectory prediction. We review, analyze and structure a large selection of work from different communities and propose a taxonomy that categorizes existing methods based on the motion modeling approach and level of contextual information used. We provide an overview of the existing datasets and performance metrics. We discuss limitations of the state of the art and outline directions for further research.Comment: Submitted to the International Journal of Robotics Research (IJRR), 37 page

Mobile robotics in agricultural operations: A narrative review on planning aspects

The advent of mobile robots in agriculture has signaled a digital transformation with new automation technologies optimize a range of labor-intensive, resources-demanding, and time-consuming agri-field operations. To that end a generally accepted technical lexicon for mobile robots is lacking as pertinent terms are often used interchangeably. This creates confusion among research and practice stakeholders. In addition, a consistent definition of planning attributes in automated agricultural operations is still missing as relevant research is sparse. In this regard, a “narrative” review was adopted (1) to provide the basic terminology over technical aspects of mobile robots used in autonomous operations and (2) assess fundamental planning aspects of mobile robots in agricultural environments. Based on the synthesized evidence from extant studies, seven planning attributes have been included: (i) high-level control-specific attributes, which include reasoning architecture, the world model, and planning level, (ii) operation-specific attributes, which include locomotion–task connection and capacity constraints, and (iii) physical robot-specific attributes, which include vehicle configuration and vehicle kinematics.</jats:p

Conception of control paradigms for teleoperated driving tasks in urban environments

Development of concepts and computationally efficient motion planning methods for teleoperated drivingEntwicklung von Konzepten und recheneffizienten Bewegungsplanungsmethoden für teleoperiertes Fahre

Standardization for intelligent detection and autonomous operation of non-structured hardware, and its application on railcar brake release operation

textThis thesis introduces a standard framework for evaluating and planning for desired autonomous (or semi-autonomous) operations, then applies the framework, in detail, to the task of automating emergency brake release before rail-car decoupling. A significant hurdle to be accounted for is the lack of standardization of much of the hardware of interest in industry. Non-standardized rail car components must be formally structured as fully as possible to improve the reliability of the robotic automation. This brake release task requires either pushing or pulling a “bleed rod” that protrudes from the side of each rail car. The requirements for each step of the evaluation and planning process will be laid out in this thesis, as an example of how it should be applied to future automation tasks.Mechanical Engineerin

Transport Layer solution for bulk data transfers over Heterogeneous Long Fat Networks in Next Generation Networks

Aquesta tesi per compendi centra les seves contribucions en l'aprenentatge i innovació de les Xarxes de Nova Generació. És per això que es proposen diferents contribucions en diferents àmbits (Smart Cities, Smart Grids, Smart Campus, Smart Learning, Mitjana, eHealth, Indústria 4.0 entre d'altres) mitjançant l'aplicació i combinació de diferents disciplines (Internet of Things, Building Information Modeling, Cloud Storage, Ciberseguretat, Big Data, Internet de el Futur, Transformació Digital). Concretament, es detalla el monitoratge sostenible del confort a l'Smart Campus, la que potser es la meva aportació més representativa dins de la conceptualització de Xarxes de Nova Generació. Dins d'aquest innovador concepte de monitorització s'integren diferents disciplines, per poder oferir informació sobre el nivell de confort de les persones. Aquesta investigació demostra el llarg recorregut que hi ha en la transformació digital dels sectors tradicionals i les NGNs. Durant aquest llarg aprenentatge sobre les NGN a través de les diferents investigacions, es va poder observar una problemàtica que afectava de manera transversal als diferents camps d'aplicació de les NGNs i que aquesta podia tenir una afectació en aquests sectors. Aquesta problemàtica consisteix en el baix rendiment durant l'intercanvi de grans volums de dades sobre xarxes amb gran capacitat d'ample de banda i remotament separades geogràficament, conegudes com a xarxes elefant. Concretament, això afecta al cas d'ús d'intercanvi massiu de dades entre regions Cloud (Cloud Data Sharing use case). És per això que es va estudiar aquest cas d'ús i les diferents alternatives a nivell de protocols de transport,. S'estudien les diferents problemàtiques que pateixen els protocols i s'observa per què aquests no són capaços d'arribar a rendiments òptims. Deguda a aquesta situació, s'hipotetiza que la introducció de mecanismes que analitzen les mètriques de la xarxa i que exploten eficientment la capacitat de la mateixa milloren el rendiment dels protocols de transport sobre xarxes elefant heterogènies durant l'enviament massiu de dades. Primerament, es dissenya l’Adaptative and Aggressive Transport Protocol (AATP), un protocol de transport adaptatiu i eficient amb l'objectiu de millorar el rendiment sobre aquest tipus de xarxes elefant. El protocol AATP s'implementa i es prova en un simulador de xarxes i un testbed sota diferents situacions i condicions per la seva validació. Implementat i provat amb èxit el protocol AATP, es decideix millorar el propi protocol, Enhanced-AATP, sobre xarxes elefant heterogènies. Per això, es dissenya un mecanisme basat en el Jitter Ràtio que permet fer aquesta diferenciació. A més, per tal de millorar el comportament del protocol, s’adapta el seu sistema de fairness per al repartiment just dels recursos amb altres fluxos Enhanced-AATP. Aquesta evolució s'implementa en el simulador de xarxes i es realitzen una sèrie de proves. A l'acabar aquesta tesi, es conclou que les Xarxes de Nova Generació tenen molt recorregut i moltes coses a millorar causa de la transformació digital de la societat i de l'aparició de nova tecnologia disruptiva. A més, es confirma que la introducció de mecanismes específics en la concepció i operació dels protocols de transport millora el rendiment d'aquests sobre xarxes elefant heterogènies.Esta tesis por compendio centra sus contribuciones en el aprendizaje e innovación de las Redes de Nueva Generación. Es por ello que se proponen distintas contribuciones en diferentes ámbitos (Smart Cities, Smart Grids, Smart Campus, Smart Learning, Media, eHealth, Industria 4.0 entre otros) mediante la aplicación y combinación de diferentes disciplinas (Internet of Things, Building Information Modeling, Cloud Storage, Ciberseguridad, Big Data, Internet del Futuro, Transformación Digital). Concretamente, se detalla la monitorización sostenible del confort en el Smart Campus, la que se podría considerar mi aportación más representativa dentro de la conceptualización de Redes de Nueva Generación. Dentro de este innovador concepto de monitorización se integran diferentes disciplinas, para poder ofrecer información sobre el nivel de confort de las personas. Esta investigación demuestra el recorrido que existe en la transformación digital de los sectores tradicionales y las NGNs. Durante este largo aprendizaje sobre las NGN a través de las diferentes investigaciones, se pudo observar una problemática que afectaba de manera transversal a los diferentes campos de aplicación de las NGNs y que ésta podía tener una afectación en estos sectores. Esta problemática consiste en el bajo rendimiento durante el intercambio de grandes volúmenes de datos sobre redes con gran capacidad de ancho de banda y remotamente separadas geográficamente, conocidas como redes elefante, o Long Fat Networks (LFNs). Concretamente, esto afecta al caso de uso de intercambio de datos entre regiones Cloud (Cloud Data Data use case). Es por ello que se estudió este caso de uso y las diferentes alternativas a nivel de protocolos de transporte. Se estudian las diferentes problemáticas que sufren los protocolos y se observa por qué no son capaces de alcanzar rendimientos óptimos. Debida a esta situación, se hipotetiza que la introducción de mecanismos que analizan las métricas de la red y que explotan eficientemente la capacidad de la misma mejoran el rendimiento de los protocolos de transporte sobre redes elefante heterogéneas durante el envío masivo de datos. Primeramente, se diseña el Adaptative and Aggressive Transport Protocol (AATP), un protocolo de transporte adaptativo y eficiente con el objetivo maximizar el rendimiento sobre este tipo de redes elefante. El protocolo AATP se implementa y se prueba en un simulador de redes y un testbed bajo diferentes situaciones y condiciones para su validación. Implementado y probado con éxito el protocolo AATP, se decide mejorar el propio protocolo, Enhanced-AATP, sobre redes elefante heterogéneas. Además, con tal de mejorar el comportamiento del protocolo, se mejora su sistema de fairness para el reparto justo de los recursos con otros flujos Enhanced-AATP. Esta evolución se implementa en el simulador de redes y se realizan una serie de pruebas. Al finalizar esta tesis, se concluye que las Redes de Nueva Generación tienen mucho recorrido y muchas cosas a mejorar debido a la transformación digital de la sociedad y a la aparición de nueva tecnología disruptiva. Se confirma que la introducción de mecanismos específicos en la concepción y operación de los protocolos de transporte mejora el rendimiento de estos sobre redes elefante heterogéneas.This compendium thesis focuses its contributions on the learning and innovation of the New Generation Networks. That is why different contributions are proposed in different areas (Smart Cities, Smart Grids, Smart Campus, Smart Learning, Media, eHealth, Industry 4.0, among others) through the application and combination of different disciplines (Internet of Things, Building Information Modeling, Cloud Storage, Cybersecurity, Big Data, Future Internet, Digital Transformation). Specifically, the sustainable comfort monitoring in the Smart Campus is detailed, which can be considered my most representative contribution within the conceptualization of New Generation Networks. Within this innovative monitoring concept, different disciplines are integrated in order to offer information on people's comfort levels. . This research demonstrates the long journey that exists in the digital transformation of traditional sectors and New Generation Networks. During this long learning about the NGNs through the different investigations, it was possible to observe a problematic that affected the different application fields of the NGNs in a transversal way and that, depending on the service and its requirements, it could have a critical impact on any of these sectors. This issue consists of a low performance operation during the exchange of large volumes of data on networks with high bandwidth capacity and remotely geographically separated, also known as Elephant networks, or Long Fat Networks (LFNs). Specifically, this critically affects the Cloud Data Sharing use case. That is why this use case and the different alternatives at the transport protocol level were studied. For this reason, the performance and operation problems suffered by layer 4 protocols are studied and it is observed why these traditional protocols are not capable of achieving optimal performance. Due to this situation, it is hypothesized that the introduction of mechanisms that analyze network metrics and efficiently exploit network’s capacity meliorates the performance of Transport Layer protocols over Heterogeneous Long Fat Networks during bulk data transfers. First, the Adaptive and Aggressive Transport Protocol (AATP) is designed. An adaptive and efficient transport protocol with the aim of maximizing its performance over this type of elephant network.. The AATP protocol is implemented and tested in a network simulator and a testbed under different situations and conditions for its validation. Once the AATP protocol was designed, implemented and tested successfully, it was decided to improve the protocol itself, Enhanced-AATP, to improve its performance over heterogeneous elephant networks. In addition, in order to upgrade the behavior of the protocol, its fairness system is improved for the fair distribution of resources among other Enhanced-AATP flows. Finally, this evolution is implemented in the network simulator and a set of tests are carried out. At the end of this thesis, it is concluded that the New Generation Networks have a long way to go and many things to improve due to the digital transformation of society and the appearance of brand-new disruptive technology. Furthermore, it is confirmed that the introduction of specific mechanisms in the conception and operation of transport protocols improves their performance on Heterogeneous Long Fat Networks

The cultural epigenetics of psychopathology: The missing heritability of complex diseases found?

We extend a cognitive paradigm for gene expression based on the asymptotic limit theorems of information theory to the epigenetic epidemiology of mental disorders. In particular, we recognize the fundamental role culture plays in human biology, another heritage mechanism parallel to, and interacting with, the more familiar genetic and epigenetic systems. We do this via a model through which culture acts as another tunable epigenetic catalyst that both directs developmental trajectories, and becomes convoluted with individual ontology, via a mutually-interacting crosstalk mediated by a social interaction that is itself culturally driven. We call for the incorporation of embedding culture as an essential component of the epigenetic regulation of human mental development and its dysfunctions, bringing what is perhaps the central reality of human biology into the center of biological psychiatry. Current US work on gene-environment interactions in psychiatry must be extended to a model of gene-environment-culture interaction to avoid becoming victim of an extreme American individualism that threatens to create paradigms particular to that culture and that are, indeed, peculiar in the context of the world's cultures. The cultural and epigenetic systems of heritage may well provide the 'missing' heritability of complex diseases now under so much intense discussion

Operator selection for human-automation teaming: The role of manual task skill in predicting automation failure intervention.

Humans working in modern work systems are increasingly required to supervise task automation. We examined whether manual aircraft conflict detection skill predicted participants’ ability to respond to conflict detection automation failures in simulated air traffic control. In a conflict discrimination task (to assess manual skill), participants determined whether pairs of aircraft were in conflict or not by judging their relative-arrival time at common intersection points. Then in a simulated air traffic control task, participants supervised automation which either partially or fully detected and resolved conflicts on their behalf. Automation supervision required participants to detect when automation may have failed and effectively intervene. When automation failed, participants who had better manual conflict detection skill were faster and more accurate to intervene. However, a substantial proportion of variance in failure intervention was not explained by manual conflict detection skill, potentially reflecting that future research should consider other cognitive skills underlying automation supervision

Enhancing numerical modelling efficiency for electromagnetic simulation of physical layer components.

The purpose of this thesis is to present solutions to overcome several key difficulties that limit the application of numerical modelling in communication cable design and analysis. In particular, specific limiting factors are that simulations are time consuming, and the process of comparison requires skill and is poorly defined and understood. When much of the process of design consists of optimisation of performance within a well defined domain, the use of artificial intelligence techniques may reduce or remove the need for human interaction in the design process. The automation of human processes allows round-the-clock operation at a faster throughput. Achieving a speedup would permit greater exploration of the possible designs, improving understanding of the domain. This thesis presents work that relates to three facets of the efficiency of numerical modelling: minimizing simulation execution time, controlling optimization processes and quantifying comparisons of results. These topics are of interest because simulation times for most problems of interest run into tens of hours. The design process for most systems being modelled may be considered an optimisation process in so far as the design is improved based upon a comparison of the test results with a specification. Development of software to automate this process permits the improvements to continue outside working hours, and produces decisions unaffected by the psychological state of a human operator. Improved performance of simulation tools would facilitate exploration of more variations on a design, which would improve understanding of the problem domain, promoting a virtuous circle of design. The minimization of execution time was achieved through the development of a Parallel TLM Solver which did not use specialized hardware or a dedicated network. Its design was novel because it was intended to operate on a network of heterogeneous machines in a manner which was fault tolerant, and included a means to reduce vulnerability of simulated data without encryption. Optimisation processes were controlled by genetic algorithms and particle swarm optimisation which were novel applications in communication cable design. The work extended the range of cable parameters, reducing conductor diameters for twisted pair cables, and reducing optical coverage of screens for a given shielding effectiveness. Work on the comparison of results introduced ―Colour maps‖ as a way of displaying three scalar variables over a two-dimensional surface, and comparisons were quantified by extending 1D Feature Selective Validation (FSV) to two dimensions, using an ellipse shaped filter, in such a way that it could be extended to higher dimensions. In so doing, some problems with FSV were detected, and suggestions for overcoming these presented: such as the special case of zero valued DC signals. A re-description of Feature Selective Validation, using Jacobians and tensors is proposed, in order to facilitate its implementation in higher dimensional spaces

A COLLISION AVOIDANCE SYSTEM FOR AUTONOMOUS UNDERWATER VEHICLES

The work in this thesis is concerned with the development of a novel and practical collision avoidance system for autonomous underwater vehicles (AUVs). Synergistically, advanced stochastic motion planning methods, dynamics quantisation approaches, multivariable tracking controller designs, sonar data processing and workspace representation, are combined to enhance significantly the survivability of modern AUVs. The recent proliferation of autonomous AUV deployments for various missions such as seafloor surveying, scientific data gathering and mine hunting has demanded a substantial increase in vehicle autonomy. One matching requirement of such missions is to allow all the AUV to navigate safely in a dynamic and unstructured environment. Therefore, it is vital that a robust and effective collision avoidance system should be forthcoming in order to preserve the structural integrity of the vehicle whilst simultaneously increasing its autonomy. This thesis not only provides a holistic framework but also an arsenal of computational techniques in the design of a collision avoidance system for AUVs. The design of an obstacle avoidance system is first addressed. The core paradigm is the application of the Rapidly-exploring Random Tree (RRT) algorithm and the newly developed version for use as a motion planning tool. Later, this technique is merged with the Manoeuvre Automaton (MA) representation to address the inherent disadvantages of the RRT. A novel multi-node version which can also address time varying final state is suggested. Clearly, the reference trajectory generated by the aforementioned embedded planner must be tracked. Hence, the feasibility of employing the linear quadratic regulator (LQG) and the nonlinear kinematic based state-dependent Ricatti equation (SDRE) controller as trajectory trackers are explored. The obstacle detection module, which comprises of sonar processing and workspace representation submodules, is developed and tested on actual sonar data acquired in a sea-trial via a prototype forward looking sonar (AT500). The sonar processing techniques applied are fundamentally derived from the image processing perspective. Likewise, a novel occupancy grid using nonlinear function is proposed for the workspace representation of the AUV. Results are presented that demonstrate the ability of an AUV to navigate a complex environment. To the author's knowledge, it is the first time the above newly developed methodologies have been applied to an A UV collision avoidance system, and, therefore, it is considered that the work constitutes a contribution of knowledge in this area of work.J&S MARINE LT

Real-time motion planning methods for autonomous on-road driving: state-of-the-art and future research directions

Currently autonomous or self-driving vehicles are at the heart of academia and industry research because of its multi-faceted advantages that includes improved safety, reduced congestion, lower emissions and greater mobility. Software is the key driving factor underpinning autonomy within which planning algorithms that are responsible for mission-critical decision making hold a significant position. While transporting passengers or goods from a given origin to a given destination, motion planning methods incorporate searching for a path to follow, avoiding obstacles and generating the best trajectory that ensures safety, comfort and efficiency. A range of different planning approaches have been proposed in the literature. The purpose of this paper is to review existing approaches and then compare and contrast different methods employed for the motion planning of autonomous on-road driving that consists of (1) finding a path, (2) searching for the safest manoeuvre and (3) determining the most feasible trajectory. Methods developed by researchers in each of these three levels exhibit varying levels of complexity and performance accuracy. This paper presents a critical evaluation of each of these methods, in terms of their advantages/disadvantages, inherent limitations, feasibility, optimality, handling of obstacles and testing operational environments. Based on a critical review of existing methods, research challenges to address current limitations are identified and future research directions are suggested so as to enhance the performance of planning algorithms at all three levels. Some promising areas of future focus have been identified as the use of vehicular communications (V2V and V2I) and the incorporation of transport engineering aspects in order to improve the look-ahead horizon of current sensing technologies that are essential for planning with the aim of reducing the total cost of driverless vehicles. This critical review on planning techniques presented in this paper, along with the associated discussions on their constraints and limitations, seek to assist researchers in accelerating development in the emerging field of autonomous vehicle research