Neural-Attention-Based Deep Learning Architectures for Modeling Traffic Dynamics on Lane Graphs

Deep neural networks can be powerful tools, but require careful application-specific design to ensure that the most informative relationships in the data are learnable. In this paper, we apply deep neural networks to the nonlinear spatiotemporal physics problem of vehicle traffic dynamics. We consider problems of estimating macroscopic quantities (e.g., the queue at an intersection) at a lane level. First-principles modeling at the lane scale has been a challenge due to complexities in modeling social behaviors like lane changes, and those behaviors' resultant macro-scale effects. Following domain knowledge that upstream/downstream lanes and neighboring lanes affect each others' traffic flows in distinct ways, we apply a form of neural attention that allows the neural network layers to aggregate information from different lanes in different manners. Using a microscopic traffic simulator as a testbed, we obtain results showing that an attentional neural network model can use information from nearby lanes to improve predictions, and, that explicitly encoding the lane-to-lane relationship types significantly improves performance. We also demonstrate the transfer of our learned neural network to a more complex road network, discuss how its performance degradation may be attributable to new traffic behaviors induced by increased topological complexity, and motivate learning dynamics models from many road network topologies.Comment: To appear at 2019 IEEE Conference on Intelligent Transportation System

Map Management Approach for SLAM in Large-Scale Indoor and Outdoor Areas

This work presents a semantic map management approach for various environments by triggering multiple maps with different simultaneous localization and mapping (SLAM) configurations. A modular map structure allows to add, modify or delete maps without influencing other maps of different areas. The hierarchy level of our algorithm is above the utilized SLAM method. Evaluating laser scan data (e.g. the detection of passing a doorway) triggers a new map, automatically choosing the appropriate SLAM configuration from a manually predefined list. Single independent maps are connected by link-points, which are located in an overlapping zone of both maps, enabling global navigation over several maps. Loop- closures between maps are detected by an appearance-based method, using feature matching and iterative closest point (ICP) registration between point clouds. Based on the arrangement of maps and link-points, a topological graph is extracted for navigation purpose and tracking the global robot's position over several maps. Our approach is evaluated by mapping a university campus with multiple indoor and outdoor areas and abstracting a metrical-topological graph. It is compared to a single map running with different SLAM configurations. Our approach enhances the overall map quality compared to the single map approaches by automatically choosing predefined SLAM configurations for different environmental setups

Optimized Tuning of an EKF for State and Parameter Estimation in a Semitrailer

The Extended Kalman Filter (EKF) is a well-known method for state and parameter estimation in vehicle dynamics. However, for tuning the EKF, knowledge about the process and measurement noise is needed, which is usually unknown. Tuning the noise parameters manually is very time consuming, especially for systems with many states. Automated optimization based on the filtering errors promises less application time and better estimation performance, but also requires computing resources. This work presents two approaches for estimating the noise parameters of an EKF: A particle swarm optimization (PSO) and a gradient-based optimization. The EKF is applied to a nonlinear vehicle model of a tractor-semitrailer for estimating the steering and articulation angle as well as lateral and vertical tire forces based on real measurement data with different trailer loadings. Both methods are compared to each other to achieve the best estimation performance

EEG Biofeedback as a Treatment for Substance Use Disorders: Review, Rating of Efficacy, and Recommendations for Further Research

Electroencephalographic (EEG) biofeedback has been employed in substance use disorder (SUD) over the last three decades. The SUD is a complex series of disorders with frequent comorbidities and EEG abnormalities of several types. EEG biofeedback has been employed in conjunction with other therapies and may be useful in enhancing certain outcomes of therapy. Based on published clinical studies and employing efficacy criteria adapted by the Association for Applied Psychophysiology and Biofeedback and the International Society for Neurofeedback and Research, alpha theta training—either alone for alcoholism or in combination with beta training for stimulant and mixed substance abuse and combined with residential treatment programs, is probably efficacious. Considerations of further research design taking these factors into account are discussed and descriptions of contemporary research are given

Variation analysis and gene annotation of eight MHC haplotypes: The MHC Haplotype Project

The human major histocompatibility complex (MHC) is contained within about 4 Mb on the short arm of chromosome 6 and is recognised as the most variable region in the human genome. The primary aim of the MHC Haplotype Project was to provide a comprehensively annotated reference sequence of a single, human leukocyte antigen-homozygous MHC haplotype and to use it as a basis against which variations could be assessed from seven other similarly homozygous cell lines, representative of the most common MHC haplotypes in the European population. Comparison of the haplotype sequences, including four haplotypes not previously analysed, resulted in the identification of >44,000 variations, both substitutions and indels (insertions and deletions), which have been submitted to the dbSNP database. The gene annotation uncovered haplotype-specific differences and confirmed the presence of more than 300 loci, including over 160 protein-coding genes. Combined analysis of the variation and annotation datasets revealed 122 gene loci with coding substitutions of which 97 were non-synonymous. The haplotype (A3-B7-DR15; PGF cell line) designated as the new MHC reference sequence, has been incorporated into the human genome assembly (NCBI35 and subsequent builds), and constitutes the largest single-haplotype sequence of the human genome to date. The extensive variation and annotation data derived from the analysis of seven further haplotypes have been made publicly available and provide a framework and resource for future association studies of all MHC-associated diseases and transplant medicine

Pattern recognition receptors in immune disorders affecting the skin.

Contains fulltext : 109004.pdf (publisher's version ) (Open Access)Pattern recognition receptors (PRRs) evolved to protect organisms against pathogens, but excessive signaling can induce immune responses that are harmful to the host. Putative PRR dysfunction is associated with numerous immune disorders that affect the skin, such as systemic lupus erythematosus, cryopyrin-associated periodic syndrome, and primary inflammatory skin diseases including psoriasis and atopic dermatitis. As yet, the evidence is often confined to genetic association studies without additional proof of a causal relationship. However, insight into the role of PRRs in the pathophysiology of some disorders has already resulted in new therapeutic approaches based on immunomodulation of PRRs

Competitive Tendering In The Netherlands: Central Planning Or Functional Specifications?

Institute of Transport and Logistics Studies. Faculty of Economics and Business. The University of Sydne

CMS physics technical design report : Addendum on high density QCD with heavy ions

Peer reviewe

ϒ production in p–Pb collisions at √sNN=8.16 TeV

ϒ production in p–Pb interactions is studied at the centre-of-mass energy per nucleon–nucleon collision √sNN = 8.16 TeV with the ALICE detector at the CERN LHC. The measurement is performed reconstructing bottomonium resonances via their dimuon decay channel, in the centre-of-mass rapidity intervals 2.03 < ycms < 3.53 and −4.46 < ycms < −2.96, down to zero transverse momentum. In this work, results on the ϒ(1S) production cross section as a function of rapidity and transverse momentum are presented. The corresponding nuclear modification factor shows a suppression of the ϒ(1S) yields with respect to pp collisions, both at forward and backward rapidity. This suppression is stronger in the low transverse momentum region and shows no significant dependence on the centrality of the interactions. Furthermore, the ϒ(2S) nuclear modification factor is evaluated, suggesting a suppression similar to that of the ϒ(1S). A first measurement of the ϒ(3S) has also been performed. Finally, results are compared with previous ALICE measurements in p–Pb collisions at √sNN = 5.02 TeV and with theoretical calculations.publishedVersio