Controlling Steering Angle for Cooperative Self-driving Vehicles utilizing CNN and LSTM-based Deep Networks

A fundamental challenge in autonomous vehicles is adjusting the steering angle at different road conditions. Recent state-of-the-art solutions addressing this challenge include deep learning techniques as they provide end-to-end solution to predict steering angles directly from the raw input images with higher accuracy. Most of these works ignore the temporal dependencies between the image frames. In this paper, we tackle the problem of utilizing multiple sets of images shared between two autonomous vehicles to improve the accuracy of controlling the steering angle by considering the temporal dependencies between the image frames. This problem has not been studied in the literature widely. We present and study a new deep architecture to predict the steering angle automatically by using Long-Short-Term-Memory (LSTM) in our deep architecture. Our deep architecture is an end-to-end network that utilizes CNN, LSTM and fully connected (FC) layers and it uses both present and futures images (shared by a vehicle ahead via Vehicle-to-Vehicle (V2V) communication) as input to control the steering angle. Our model demonstrates the lowest error when compared to the other existing approaches in the literature.Comment: Accepted in IV 2019, 6 pages, 9 figure

Double Inverse Stochastic Resonance with Dynamic Synapses

We investigate the behavior of a model neuron that receives a biophysically-realistic noisy post-synaptic current based on uncorrelated spiking activity from a large number of afferents. We show that, with static synapses, such noise can give rise to inverse stochastic resonance (ISR) as a function of the presynaptic firing rate. We compare this to the case with dynamic synapses that feature short-term synaptic plasticity, and show that the interval of presynaptic firing rate over which ISR exists can be extended or diminished. We consider both short-term depression and facilitation. Interestingly, we find that a double inverse stochastic resonance (DISR), with two distinct wells centered at different presynaptic firing rates, can appear.Comment: 12 pages, 7 figure

Fate of the Universe, Age of the Universe, Dark Matter, and the Decaying Vacuum Energy

It is shown that in the cosmological models based on a vacuum energy decaying as a^{-2}, where a is the scale factor of the universe, the fate of the universe in regard to whether it will collapse in future or expand forever is determined not by the curvature constant k but by an effective curvature constant k_{eff}. It is argued that a closed universe with k=1 may expand forever, in other words simulate the expansion dynamics of a flat or an open universe because of the possibility that k_{eff}=0 or -1, respectively. Two such models, in one of which the vacuum does not interact with matter and in another of which it does, are studied. It is shown that the vacuum equation of state p_{vac}= -\rho_{vac} may be realized in a decaying vacuum cosmology provided the vacuum interacts wuth matter. The optical depths for gravitational lensing as a function of the matter density and other parameters in the models are calculated at a source redshift of 2. The age of the universe is discussed and shown to be compatible with the new Hipparcos lower limit of 11Gyr. The possibility that a time-varying vacuum energy may serve as dark matter is suggested.Comment: AAS LaTex, 29 pages, published in the Astrophysical Journal, 520, 45, 199

Simulation of ecological impacts of the new outer-harbour development in Zeebrugge

The new outer-harbour in Zeebrugge is to be protected by jetties extending 1,750 m seaward, This development will alter the local distribution of tidal and residual currents. Such hydrodynamic changes will, in turn, affect the dispersion pattern of dissolved and particular matters in the vicinity of Zeebrugge. A mathematical model is presented, which simulates the dispersion - before and after outer harbour development - of dissolved organic matters, faecal bacteria and heavy metals, which are indicative of, respectively domestic, human, and industrial pollutions

Predicting room occupancy with a single passive infrared (PIR) sensor through behavior extraction

Passive infrared sensors have widespread use in many applications, including motion detectors for alarms, lighting systems and hand dryers. Combinations of multiple PIR sensors have also been used to count the number of humans passing through doorways. In this paper, we demonstrate the potential of the PIR sensor as a tool for occupancy estimation inside of a monitored environment. Our approach shows how flexible nonparametric machine learning algorithms extract useful information about the occupancy from a single PIR sensor. The approach allows us to understand and make use of the motion patterns generated by people within the monitored environment. The proposed counting system uses information about those patterns to provide an accurate estimate of room occupancy which can be updated every 30 seconds. The system was successfully tested on data from more than 50 real office meetings consisting of at most 14 room occupants

Simple facet joint repair with dynamic pedicular system: Technical note and case series

Purpose: Facet joints are important anatomical structures for the stability of spine. Surgical or degenerative damage to a facet joint may lead to spinal instability and causes clinical problems. This article explains the importance of facet joints, reviews facet replacement systems, and describes a simple and effective method for facet replacement after surgical removal of facet joints. Materials and Methods: Ten patients were operated with the diagnosis of unilateral nerve root compression secondary to facet degeneration. The hypertrophic facet joints were removed with microsurgical techniques and the roots were decompressed. Then, a unilateral artificial facet joint was created using two hinged screws and a dynamic rod. Results: The clinical outcome of all the patients was determined good or excellent at second and last follow-up (mean 13.3 months) controls using visual analog scale (VAS) and Oswestry Disability Index (ODI) scores. Radiological evaluations also demonstrated no implant-related complications. Conclusions: The authors suggest that, if removal of a facet joint is necessary to decompress the nerve roots, the joint can be replaced by a construct composed of two hinged screws connected by a dynamic rod. This simple system mimics the function of a normal facet joint and is an effective technique for unilateral facet joint replacement

Beta, Dipole and Noncommutative Deformations of M-theory Backgrounds with One or More Parameters

We construct new M-theory solutions starting from those that contain 5 U(1) isometries. We do this by reducing along one of the 5-torus directions, then T-dualizing via the action of an O(4,4) matrix and lifting back to 11-dimensions. The particular T-duality transformation is a sequence of O(2,2) transformations embedded in O(4,4), where the action of each O(2,2) gives a Lunin-Maldacena deformation in 10-dimensions. We find general formulas for the metric and 4-form field of single and multiparameter deformed solutions, when the 4-form of the initial 11-dimensional background has at most one leg along the 5-torus. All the deformation terms in the new solutions are given in terms of subdeterminants of a 5x5 matrix, which represents the metric on the 5-torus. We apply these results to several M-theory backgrounds of the type AdS_r x X^{11-r}. By appropriate choices of the T-duality and reduction directions we obtain analogues of beta, dipole and noncommutative deformations. We also provide formulas for backgrounds with only 3 or 4 U(1) isometries and study a case, for which our assumption for the 4-form field is violated.Comment: v2:minor corrections, v3:small improvements, v4:conclusions expanded, to appear in Class. Quant. Gra

Perceptions de la variabilité climati que et stratégies d’adaptation dans le système oasien de Gouré (Sud-est Niger)

Les savoirs liés au temps et à l’espace, et l’identification des stratégies paysannes pour affronter les problèmes climatiques sont indispensables pour toute compréhension des questions climatiques. Pour mieux apprécier les perceptions de la variabilité climatique et les stratégies d’adaptation utilisées, une enquête semi structuré qui a concerné 60 personnes repartie dans 4 villages du département de Gouré, situé dans l’Est du Niger est conduite selon une approche qualitative et quantitative. Les effets de la variabilité climatique ressentis par les agriculteurs sont l’aridité du climat, l’augmentation de la température et le caractère aléatoire des pluies. Les éleveurs la perçoivent de façon indirecte à travers la réduction du fourrage et de la disponibilité d’eau. Ces effets ont poussé ces populations à adopter des stratégies d’adaptation comme la recherche de nouvelles variétés à cycle court et supportant les poches de sécheresse, la pratique des techniques de fixation des dunes pour la restauration du couvert herbacé, l’utilisation de la fumure organique, la modification des dates de semis, le stockage de fourrage, le déstockage des animaux pendant la soudure, les prières collectives de demande de pluies. Elles sont toutefois insuffisantes du fait de la persistance des effets négatifs de la variabilité climatiques au Niger.Mots clés: Variabilité climatique, perception, stratégies d’adaptation, Gouré, NigerEnglish Title: Farmers perception and adaptation strategies to climate change in the oasis system of Goure (Southeast Niger)English AbstractKnowledge related to the perception of time and space, and identification of farmers’ strategies for dealing with climate change is a perequisite for a good understanding of climate issues. Farmers’ climate variability perceptions and adaptation strategies was studied using a survey conducted with sixty (60) farmers in the department of Gouré, located in eastern Niger. Results showed that farmers directly experience changes in  climate variability through temperature increase, frequent drought and erratic rainfall. By contrast, herders sense the effects of climate change indirectly through fodder reduction and scarce water availability. These effects have prompted farmers to adopt coping strategies such as the use of improved varieties, early and drought tolerant, sand dune stabilization and land reclamation, use of organic manure, changing of planting dates, storage of fodder, the destocking of animals during drought periods, collective prayers for rain. These strategies, however, appear to be insufficient for addressing the negative effects of climate change in this part of Niger.Keywords: climate variability, perception, strategies of adaptation, Goure, Nige

Supernovae Ia Constraints on a Time-Variable Cosmological "Constant"

The energy density of a scalar field $\phi$ with potential $V(\phi) \propto \phi^{-\alpha}$, $\alpha > 0$, behaves like a time-variable cosmological constant that could contribute significantly to the present energy density. Predictions of this spatially-flat model are compared to recent Type Ia supernovae apparent magnitude versus redshift data. A large region of model parameter space is consistent with current observations. (These constraints are based on the exact scalar field model equations of motion, not on the widely used time-independent equation of state fluid approximation equations of motion.) We examine the consequences of also incorporating constraints from recent measurements of the Hubble parameter and the age of the universe in the constant and time-variable cosmological constant models. We also study the effect of using a non-informative prior for the density parameter.Comment: Accepted for publication in Ap