Adaptive sampling in autonomous marine sensor networks

Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution June 2006In this thesis, an innovative architecture for real-time adaptive and cooperative control of autonomous sensor platforms in a marine sensor network is described in the context of the autonomous oceanographic network scenario. This architecture has three major components, an intelligent, logical sensor that provides high-level environmental state information to a behavior-based autonomous vehicle control system, a new approach to behavior-based control of autonomous vehicles using multiple objective functions that allows reactive control in complex environments with multiple constraints, and an approach to cooperative robotics that is a hybrid between the swarm cooperation and intentional cooperation approaches. The mobility of the sensor platforms is a key advantage of this strategy, allowing dynamic optimization of the sensor locations with respect to the classification or localization of a process of interest including processes which can be time varying, not spatially isotropic and for which action is required in real-time. Experimental results are presented for a 2-D target tracking application in which fully autonomous surface craft using simulated bearing sensors acquire and track a moving target in open water. In the first example, a single sensor vehicle adaptively tracks a target while simultaneously relaying the estimated track to a second vehicle acting as a classification platform. In the second example, two spatially distributed sensor vehicles adaptively track a moving target by fusing their sensor information to form a single target track estimate. In both cases the goal is to adapt the platform motion to minimize the uncertainty of the target track parameter estimates. The link between the sensor platform motion and the target track estimate uncertainty is fully derived and this information is used to develop the behaviors for the sensor platform control system. The experimental results clearly illustrate the significant processing gain that spatially distributed sensors can achieve over a single sensor when observing a dynamic phenomenon as well as the viability of behavior-based control for dealing with uncertainty in complex situations in marine sensor networks.Supported by the Office of Naval Research, with a 3-year National Defense Science and Engineering Grant Fellowship and research assistantships through the Generic Ocean Array Technology Sonar (GOATS) project, contract N00014-97-1-0202 and contract N00014-05-G-0106 Delivery Order 008, PLUSNET: Persistent Littoral Undersea Surveillance Network

Understanding and avoiding AI failures: A practical guide

As AI technologies increase in capability and ubiquity, AI accidents are becoming more common. Based on normal accident theory, high reliability theory, and open systems theory, we create a framework for understanding the risks associated with AI applications. This framework is designed to direct attention to pertinent system properties without requiring unwieldy amounts of accuracy. In addition, we also use AI safety principles to quantify the unique risks of increased intelligence and human-like qualities in AI. Together, these two fields give a more complete picture of the risks of contemporary AI. By focusing on system properties near accidents instead of seeking a root cause of accidents, we identify where attention should be paid to safety for current generation AI systems

Innovation in last mile delivery : meeting evolving customer demands : the case of In-Car Delivery

Parcel delivery today is in urgent need for innovation driven by the imbalance between two forces that can be observed in the market environment. First, the volume of parcels between businesses and consumers is growing rapidly, mainly driven through e-commerce. Second, consumer habits and lifestyles are changing in a way that demands more flexibility and convenience. Ultimately, the feasibility of the delivery moment, reaching consumers at home, is shrinking. Therefore, this thesis deals with service innovations in the Last Mile Delivery of parcels that seek to enhance customer experience and address the insufficiencies of existing delivery models. The emphasis in this work is on In-Car Delivery - a method in which a parcel is delivered to the trunk of a consumer’s car. The objective of the paper is to examine whether consumers would accept In-Car Delivery as a novel way to receive parcels. Key findings suggest that In-Car Delivery can solve the deficiencies of today’s delivery methods, and consumers are willing to use trunk delivery. Yet, the research also shows that In-Car Delivery brings along an unprecedented set of concerns in parcel delivery, namely customer data and privacy concerns. As the exploration of innovative delivery solutions - beyond In-Car Delivery - is continuing, this research helps parcel companies to prioritize and concentrate their resources on the main value drivers. This study identified the following five factors most important to consumers when receiving a parcel: flexibility, convenience, cost, speed, and variety.A entrega de encomendas hoje passa por uma necessidade urgente de inovação, impulsionada pelo desequilíbrio entre duas forças que podem ser observadas no mercado. Primeiro, o volume das encomendas entre empresas e consumidores está crescendo rapidamente, principalmente através do e-commerce. Segundo, os hábitos de consumo e estilos de vida estão mudando de forma a exigir mais flexibilidade e conveniência. E por ultimo, a viabilidade de entrega, de a encomenda chegar às mãos dos consumidores em casa, está diminuindo. Portanto, esta tese trata de inovações de serviços na entrega de encomendas da Last-Mile Delivery que buscam aprimorar a experiência do cliente e abordar as insuficiências dos modelos de entrega atuais e existentes. A ênfase deste trabalho está no In-Car Delivery – um método onde a encomenda é entregue ao porta-malas do carro do consumidor. O objetivo deste trabalho é examinar se os consumidores aceitariam ou não o serviço In-Car Delivery como uma nova maneira de receber suas encomendas. Alem disso, este estudo identificou os seguintes cinco fatores mais importantes para os consumidores quando se trata de receber uma encomenda: flexibilidade, conveniência, custo, velocidade, e variedade. As principais conclusões sugerem que o serviço In-Car Delivery pode resolver as deficiências dos métodos de entrega atuais, e em geral, os consumidores estão dispostos a usar este serviço como método de recebimento de encomendas. No entanto, a pesquisa também mostra que o In-Car Delivery traz consigo preocupações sem precedentes quando se trata da entrega de encomendas, principalmente preocupações com os dados e privacidade dos clientes

Understanding and Avoiding AI Failures: A Practical Guide.

As AI technologies increase in capability and ubiquity, AI accidents are becoming more common. Based on normal accident theory, high reliability theory, and open systems theory, we create a framework for understanding the risks associated with AI applications. In addition, we also use AI safety principles to quantify the unique risks of increased intelligence and human-like qualities in AI. Together, these two fields give a more complete picture of the risks of contemporary AI. By focusing on system properties near accidents instead of seeking a root cause of accidents, we identify where attention should be paid to safety for current generation AI systems

The Federal Conference on Intelligent Processing Equipment

Research and development projects involving intelligent processing equipment within the following U.S. agencies are addressed: Department of Agriculture, Department of Commerce, Department of Energy, Department of Defense, Environmental Protection Agency, Federal Emergency Management Agency, NASA, National Institutes of Health, and the National Science Foundation

Technology Resources for Earthquake Monitoring and Response (TREMOR)

Earthquakes represent a major hazard for populations around the world, causing frequent loss of life, human suffering, and enormous damage to homes, other buildings, and infrastructure. The Technology Resources for Earthquake Monitoring and Response (TREMOR) proposal is designed to address this problem. This proposal recommends two prototype systems integrating space-based and ground technology. The suggested pilot implementation is over a 10-year period in three focus countries – China, Japan, and Peru – that are among the areas in the world most afflicted by earthquakes. The first proposed system is an Earthquake Early Warning Prototype System that addresses the potential of earthquake precursors, the science of which is incomplete and considered controversial within the scientific community. We recommend the development and launch of two small satellites to study ionospheric and electromagnetic precursors. In combination with ground-based precursor research, the data gathered will improve existing knowledge of earthquake-related phenomena. The second proposed system is an Earthquake Simulation and Response Prototype. An earthquake simulator will combine any available precursor data with detailed knowledge of the affected areas using a Geographic Information System (GIS) to identify those areas that are most likely to experience the greatest level of damage. Mobile satellite communication hubs will provide telephone and data links between response teams, while satellite navigation systems will locate and track emergency vehicles. We recommend a virtual response satellite constellation composed of existing and future high resolution satellites. We also recommend education and training for response teams on the use of these technologies. The two prototypes will be developed and implemented by a proposed non-profit nongovernmental organization (NGO) called the TREMOR Foundation, which will obtain funding from government disaster management agencies and NGOs. A for-profit subsidiary will market any spin-off technologies and provide an additional source of funding. Assuming positive results from the prototype systems, Team TREMOR recommends their eventual and permanent implementation in all countries affected by earthquakes.Postprint (published version

“The Sum of All Human Knowledge”: A Systematic Review of Scholarly Research on the Content of Wikipedia

Wikipedia might possibly be the best-developed attempt thus far of the enduring quest to gather all human knowledge in one place. Its accomplishments in this regard have made it an irresistible point of inquiry for researchers from various fields of knowledge. A decade of research has thrown light on many aspects of the Wikipedia community, its processes, and content. However, due to the variety of the fields inquiring about Wikipedia and the limited synthesis of the extensive research, there is little consensus on many aspects of Wikipedia’s content as an encyclopedic collection of human knowledge. This study addresses the issue by systematically reviewing 110 peer-reviewed publications on Wikipedia content, summarizing the current findings, and highlighting the major research trends. Two major streams of research are identified: the quality of Wikipedia content (including comprehensiveness, currency, readability and reliability) and the size of Wikipedia. Moreover, we present the key research trends in terms of the domains of inquiry, research design, data source, and data gathering methods. This review synthesizes scholarly understanding of Wikipedia content and paves the way for future studies