The predictive functional control and the management of constraints in GUANAY II autonomous underwater vehicle actuators

Autonomous underwater vehicle control has been a topic of research in the last decades. The challenges addressed vary depending on each research group's interests. In this paper, we focus on the predictive functional control (PFC), which is a control strategy that is easy to understand, install, tune, and optimize. PFC is being developed and applied in industrial applications, such as distillation, reactors, and furnaces. This paper presents the rst application of the PFC in autonomous underwater vehicles, as well as the simulation results of PFC, fuzzy, and gain scheduling controllers. Through simulations and navigation tests at sea, which successfully validate the performance of PFC strategy in motion control of autonomous underwater vehicles, PFC performance is compared with other control techniques such as fuzzy and gain scheduling control. The experimental tests presented here offer effective results concerning control objectives in high and intermediate levels of control. In high-level point, stabilization and path following scenarios are proven. In the intermediate levels, the results show that position and speed behaviors are improved using the PFC controller, which offers the smoothest behavior. The simulation depicting predictive functional control was the most effective regarding constraints management and control rate change in the Guanay II underwater vehicle actuator. The industry has not embraced the development of control theories for industrial systems because of the high investment in experts required to implement each technique successfully. However, this paper on the functional predictive control strategy evidences its easy implementation in several applications, making it a viable option for the industry given the short time needed to learn, implement, and operate, decreasing impact on the business and increasing immediacy.Peer ReviewedPostprint (author's final draft

A Hierarchal Planning Framework for AUV Mission Management in a Spatio-Temporal Varying Ocean

The purpose of this paper is to provide a hierarchical dynamic mission planning framework for a single autonomous underwater vehicle (AUV) to accomplish task-assign process in a limited time interval while operating in an uncertain undersea environment, where spatio-temporal variability of the operating field is taken into account. To this end, a high level reactive mission planner and a low level motion planning system are constructed. The high level system is responsible for task priority assignment and guiding the vehicle toward a target of interest considering on-time termination of the mission. The lower layer is in charge of generating optimal trajectories based on sequence of tasks and dynamicity of operating terrain. The mission planner is able to reactively re-arrange the tasks based on mission/terrain updates while the low level planner is capable of coping unexpected changes of the terrain by correcting the old path and re-generating a new trajectory. As a result, the vehicle is able to undertake the maximum number of tasks with certain degree of maneuverability having situational awareness of the operating field. The computational engine of the mentioned framework is based on the biogeography based optimization (BBO) algorithm that is capable of providing efficient solutions. To evaluate the performance of the proposed framework, firstly, a realistic model of undersea environment is provided based on realistic map data, and then several scenarios, treated as real experiments, are designed through the simulation study. Additionally, to show the robustness and reliability of the framework, Monte-Carlo simulation is carried out and statistical analysis is performed. The results of simulations indicate the significant potential of the two-level hierarchical mission planning system in mission success and its applicability for real-time implementation

Using Random Forests to Describe Equity in Higher Education: A Critical Quantitative Analysis of Utah’s Postsecondary Pipelines

The following work examines the Random Forest (RF) algorithm as a tool for predicting student outcomes and interrogating the equity of postsecondary education pipelines. The RF model, created using longitudinal data of 41,303 students from Utah\u27s 2008 high school graduation cohort, is compared to logistic and linear models, which are commonly used to predict college access and success. Substantially, this work finds High School GPA to be the best predictor of postsecondary GPA, whereas commonly used ACT and AP test scores are not nearly as important. Each model identified several demographic disparities in higher education access, most significantly the effects of individual-level economic disadvantage. District- and school-level factors such as the proportion of Low Income students and the proportion of Underrepresented Racial Minority (URM) students were important and negatively associated with postsecondary success. Methodologically, the RF model was able to capture non-linearity in the predictive power of school- and district-level variables, a key finding which was undetectable using linear models. The RF algorithm outperforms logistic models in prediction of student enrollment, performs similarly to linear models in prediction of postsecondary GPA, and excels both models in its descriptions of non-linear variable relationships. RF provides novel interpretations of data, challenges conclusions from linear models, and has enormous potential to further the literature around equity in postsecondary pipelines

Predictive policing management: a brief history of patrol automation

Predictive policing has attracted considerably scholarly attention. Extending the promise of being able to interdict crime prior to its commission, it seemingly promised forms of anticipatory policing that had previously existed only in the realms of science fiction. The aesthetic futurism that attended predictive policing did, however, obscure the important historical vectors from which it emerged. The adulation of technology as a tool for achieving efficiencies in policing was evident from the 1920s in the United States, reaching sustained momentum in the 1960s as the methods of Systems Analysis were applied to policing. Underpinning these efforts resided an imaginary of automated patrol facilitated by computerised command and control systems. The desire to automate police work has extended into the present, and is evident in an emergent platform policing – cloud-based technological architectures that increasingly enfold police work. Policing is consequently datafied, commodified and integrated into the circuits of contemporary digital capitalism

Model Predictive Control Based Trajectory Generation for Autonomous Vehicles - An Architectural Approach

Research in the field of automated driving has created promising results in the last years. Some research groups have shown perception systems which are able to capture even complicated urban scenarios in great detail. Yet, what is often missing are general-purpose path- or trajectory planners which are not designed for a specific purpose. In this paper we look at path- and trajectory planning from an architectural point of view and show how model predictive frameworks can contribute to generalized path- and trajectory generation approaches for generating safe trajectories even in cases of system failures.Comment: Presented at IEEE Intelligent Vehicles Symposium 2017, Los Angeles, CA, US

Distributed situation awareness in dynamic systems: Theoretical development and application of an ergonomics methodology

The purpose of this paper is to propose foundations for a theory of situation awareness based on the analysis of interactions between agents (i.e., both human and non-human) in subsystems. This approach may help promote a better understanding of technology-mediated interaction in systems, as well as helping in the formulation of hypotheses and predictions concerning distributed situation awareness. It is proposed that agents within a system each hold their own situation awareness which may be very different from (although compatible with) other agents. It is argued that we should not always hope for, or indeed want, sharing of this awareness, as different system agents have different purposes. This view marks situation awareness as a 1 dynamic and collaborative process that binds agents together on tasks on a moment-by-moment basis. Implications of this viewpoint for development of a new theory of, and accompanying methodology for, distributed situation awareness are offered