Моделирование безопасного поведения водителя на перекрестках с помощью глубинного обучения

Roundabouts provide safe and fast circulation as well as many environmental advantages, but drivers adopting unsafe behaviours while circulating through them may cause safety issues, provoking accidents. In this paper we propose a way of training an autonomous vehicle in order to behave in a human and safe way when entering a roundabout. By placing a number of cameras in our vehicle and processing their video feeds through a series of algorithms, including Machine Learning, we can build a representation of the state of the surrounding environment. Then, we use another set of Deep Learning algorithms to analyze the data and determine the safest way of circulating through a roundabout given the current state of the environment, including nearby vehicles with their estimated positions, speeds and accelerations. By watching multiple attempts of a human entering a roundabout with both safe and unsafe behaviours, our second set of algorithms can learn to mimic the human’s good attempts and act in the same way as him, which is key to a safe implementation of autonomous vehicles. This work details the series of steps that we took, from building the representation of our environment to acting according to it in order to attain safe entry into single lane roundabouts

Possible ring material around centaur (2060) Chiron

We propose that several short duration events observed in past stellar occultations by Chiron were produced by rings material. From a reanalysis of the stellar occultation data in the literature we determined two possible orientations of the pole of Chiron's rings, with ecliptic coordinates l=(352+/-10) deg, b=(37+/-10) deg or l=(144+/-10) deg, b=(24+/-10) deg . The mean radius of the rings is (324 +/- 10) km. One can use the rotational lightcurve amplitude of Chiron at different epochs to distinguish between the two solutions for the pole. Both imply lower lightcurve amplitude in 2013 than in 1988, when the rotational lightcurve was first determined. We derived Chiron's rotational lightcurve in 2013 from observations at the 1.23-m CAHA telescope and indeed its amplitude is smaller than in 1988. We also present a rotational lightcurve in 2000 from images taken at CASLEO 2.15-m telescope that is consistent with our predictions. Out of the two poles the l=(144+/-10) deg, b=(24+/-10) deg solution provides a better match to a compilation of rotational lightcurve amplitudes from the literature and those presented here. We also show that using this preferred pole, Chiron's long term brightness variations are compatible with a simple model that incorporates the changing brightness of the rings as the tilt angle with respect to the Earth changes with time. Also, the variability of the water ice band in Chiron's spectra in the literature can be explained to a large degree by an icy ring system whose tilt angle changes with time and whose composition includes water ice, analogously to the case of Chariklo. We present several possible formation scenarios for the rings from qualitative points of view and speculate on the reasons why rings might be common in centaurs. We speculate on whether the known bimodal color distribution of centaurs could be due to presence of rings and lack of them

Assessing the operating temperature of multi-junction solar cells with novel rear side layer stack and local electrical contacts

Sub-bandgap sunlight provides a source of heat generation in solar cells that is detrimental to performance, especially in space applications where heat dissipation is limited. In this work we assess the impact that an advanced rear-side contact scheme for multi-junction solar cells has on the cell temperature. Our results show that this scheme reduces the optical power absorption below the bandgap of germanium by 81% compared to a standard, full metallization design. Measurements of the electrical and thermal power fluxes performed in vacuum demonstrate that this lower near-infrared light absorption results in 8% less heat dissipated in the cell with the novel rear-side contact scheme when operating at 25 ºC. Modelling of the operating temperature for both cells when fully encapsulated with glass indicates that this effect will also result in a reduction of the operating temperature of 9 ºC for the novel design

Mathematical models for multicontainer loading problems

This paper deals with the problem of a distribution company that has to serve its customers by putting first the products on pallets and then loading the pallets onto trucks. We approach the problem by developing and solving integer linear models. We start with basic models, that include the essential features of the problem, such as respecting the dimensions of the truck, and not exceeding the total weight capacity and the maximum weigh capacity on each axle. Then, we add progressively new conditions to consider the weight and volume of pallet bases and to include other desirable features for the solutions to be useful in practice, such as the position of the center of gravity and the minimization of the number of pallets.The models have been tested on a large set of real instances involving up to 46 trucks and kindly provided to us by a distribution company. The results show that in most cases the optimal solution can be obtained in small running times. Moreover, when optimality cannot be proven, the gap is very small, so we obtain high quality solutions for all the instances that we tested

Visible and near-infrared observations of asteroid 2012 DA14 during its closest approach of February 15, 2013

Near-Earth asteroid 2012 DA14 made its closest approach on February 15, 2013, when it passed at a distance of 27,700 km from the Earth's surface. It was the first time an asteroid of moderate size was predicted to approach that close to the Earth, becoming bright enough to permit a detailed study from ground-based telescopes. Asteroid 2012 DA14 was poorly characterized before its closest approach. We acquired data using several telescopes on four Spanish observatories: the 10.4m Gran Telescopio Canarias (GTC) and the 3.6m Telescopio Nazionale Galileo (TNG), both in the El Roque de los Muchachos Observatory (ORM, La Palma); the 2.2m CAHA telescope, in the Calar Alto Observatory (Almeria); the f/3 0.77m telescope in the La Hita Observatory (Toledo); and the f/8 1.5m telescope in the Sierra Nevada Observatory (OSN, Granada). We obtained visible and near-infrared color photometry, visible spectra and time-series photometry. Visible spectra together with color photometry of 2012 DA14 show that it can be classified as an L-type asteroid, a rare spectral type with a composition similar to that of carbonaceous chondrites. The time-series photometry provides a rotational period of 8.95 +- 0.08 hours after the closest approach, and there are indications that the object suffered a spin-up during this event. The large amplitude of the light curve suggests that the object is very elongated and irregular, with an equivalent diameter of around 18m. We obtain an absolute magnitude of H_R = 24.5 +- 0.2, corresponding to H_V = 25.0 +- 0.2. The GTC photometry also gives H_V = 25.29 +- 0.14. Both values agree with the value listed at the Minor Planet Center shortly after discovery. From the absolute photometry, together with some constraints on size and shape, we compute a geometric albedo of p_V = 0.44 +- 0.20, which is slightly above the range of albedos known for L-type asteroids (0.082 - 0.405).Comment: 7 pages, 4 figures, 1 table. Accepted in A&A (June 17 2013

Large Scale dynamics of Brown trout populations across Navarra Rivers (North Spain)

Most studies on the population dynamics of stream-living salmonids have attempted to elucidate the causes of variation in demographic traits or population abundance by analyzing population time series vis-á-vis environmental data. In order to express the results on a scale compatible with fishery management strategies, most studies have been done at the scale of a stream reach, a stream or a river basin with few studies focused on the population dynamics at larger geographic scales. Our goal is to determine the extent to which the effects of both, exogenous and endogenous factors actually describe the variations in abundance of brown trout populations inhabiting separated river basins across a large and environmentally heterogeneous territory. We tested whether the trout abundance across a large territory involving distinct populations could be described by determining the extent to which exogenous and endogenous drivers underlie the per capita population growth rate estimated from long-term time series in a way similar to that previously assessed at smaller geographical scales. We have developed a simple multivariate linear model that synthetically combines an index of large-scale climate variation with mean population abundance. This model has been built on the basis of a data set encompassing 18-year quantifications of abundance at 68 sampling stations. The results of our simulation model predict mean trout abundance with less than 10% error

Experiences Developing Safe and Fault-Tolerant Tele-Operated Service Robots. A Case Study in Shipyards

Human operators use tele-operated service robots for performing more or less hazardous operations (manipulation of heavy and/or dangerous products) in more or less hostile environments (nuclear reactors, space missions, warehouses, etc). Anyway, independently of the operation, the robot has to interact with both the environment it is working on and with human operators. Therefore, it is essential that the design (which include both software and hardware) of the robot involves no risk, or at least an acceptable level of risk, neither for the operators, nor for the environment nor for the robot itself. Nevertheless, it is not always possible to make a system free of failures in its design or operation. Apart from the risk inherent to the use of the mechanisms themselves, these systems work in hazardous environments, where the probability of the risk is higher than normal. Should a failure happen, its consequences could even involve the loss of human lives. (Neumann, 1994) documents many cases of computer-related failures, such as the Therac-25 (a radiation-therapy device), the missiles shield in Saudi Arabia, etc. Nevertheless, safety aspects are seldom included in the early phases of the system design process from the beginning, even though they are a critic aspect. Generally, safety has to conform and adapt to the already designed system and not vice versa, when it is widely known that safety involves not only the design of the software but also the hardware. Even more, a simple hardware solution can eliminate a hazard or simplify the software design in many situations.This research has been funded by the Spanish CICYT project MEDWSA (TIN2006-15175- C05-02) and the Regional Government of Murcia Séneca Program (02998-PI-05)

Direct determination of Pb isotope ratios in archaeological materials by coupling liquid chromatography to multicollector ICP-MS

A procedure for the determination of Pb isotope ratios by coupling liquid chromatography to a multicollector ICP-MS has been developed. The procedure allows the direct injection of samples after dissolution without resorting to time-consuming off-line separation procedures. The separation of Pb from concomitant elements is carried out by anionic exchange as ethylenediamine tetraacetic acid (EDTA) chelates using EDTA and ammonium nitrate as a mobile phase. A flow injection system allows the injection of NIST 981 Pb isotopic standard, before and after the Pb peak from the sample, and the on-line addition of Tl for mass bias correction and bracketing. The procedure was validated by injecting NIST 981 into the chromatographic system and by comparing the results for real samples with the classical off-line separation procedure using Pb spec resins. The optimised procedure was applied to archaeological samples containing different concentrations of Pb. It was observed that the only limitation to the accuracy of the procedure was the concentration of Pb in the samples as no preconcentration is performed. Solid archaeological samples containing at least 500 μg g−1 of Pb can be studied using the proposed procedure