A unified framework for trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.Includes bibliographical references (p. 111-117).This thesis describes the design of an active safety framework that performs trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles in hazard avoidance scenarios. The vehicle navigation task is formulated as a constrained optimal control problem with the constraints bounding a navigable region of the environment derived from forward -looking sensors. First, a constrained model predictive controller is designed to iteratively plan an optimal or "best-case" vehicle trajectory through the constrained corridor. This "best-case" scenario is then used to establish the minimum threat posed to the vehicle given its current state and driver inputs. Based on this threat assessment, the level of controller intervention required to prevent departure from the navigable corridor is calculated and driver/controller inputs are scaled accordingly. This approach minimizes controller intervention while ensuring that the vehicle does not depart from a navigable corridor. It also provides a unified architecture into which various vehicle models, actuation modes, trajectory-planning objectives, driver preferences, and levels of autonomy can be seamlessly integrated without changing the underlying controller structure. Simulated and experimental results are presented to demonstrate the framework's ability to incorporate multiple threat metrics and configurable intervention laws while sharing control with a human driver. Various maneuvers are tested, including lane-keeping, hazard avoidance, and multiple hazard avoidance and show that this framework capable of maintaining vehicle stability while semi-autonomously avoiding road hazards and conceding significant control to the human driver.by Sterling J. Anderson.S.M

Constraint-based navigation for safe, shared control of ground vehicles

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2013.Cataloged from PDF version of thesis.Includes bibliographical references (p. 138-147).Human error in machine operation is common and costly. This thesis introduces, develops, and experimentally demonstrates a new paradigm for shared-adaptive control of human-machine systems that mitigates the effects of human error without removing humans from the control loop. Motivated by observed human proclivity toward navigation in fields of safe travel rather than along specific trajectories, the planning and control framework developed in this thesis is rooted in the design and enforcement of constraints rather than the more traditional use of reference paths. Two constraint-planning methods are introduced. The first uses a constrained Delaunay triangulation of the environment to identify, cumulatively evaluate, and succinctly circumscribe the paths belonging to a particular homotopy with a set of semi autonomously enforceable constraints on the vehicle's position. The second identifies a desired homotopy by planning - and then laterally expanding - the optimal path that traverses it. Simulated results show both of these constraint-planning methods capable of improving the performance of one or multiple agents traversing an environment with obstacles. A method for predicting the threat posed to the vehicle given the current driver action, present state of the environment, and modeled vehicle dynamics is also presented. This threat assessment method, and the shared control approach it facilitates, are shown in simulation to prevent constraint violation or vehicular loss of control with minimal control intervention. Visual and haptic driver feedback mechanisms facilitated by this constraint-based control and threat-based intervention are also introduced. Finally, a large-scale, repeated measures study is presented to evaluate this control framework's effect on the performance, confidence, and cognitive workload of 20 drivers teleoperating an unmanned ground vehicle through an outdoor obstacle course. In 1,200 trials, the constraint-based framework developed in this thesis is shown to increase vehicle velocity by 26% while reducing the occurrence of collisions by 78%, improving driver reaction time to a secondary task by 8.7%, and increasing overall user confidence and sense of control by 44% and 12%, respectively. These performance improvements were realized with the autonomous controller usurping less than 43% of available vehicle control authority, on average.by Sterling J. Anderson.Ph.D

α-Amino bicycloalkylation through organophotoredox catalysis †

Bridged bicycloalkanes such as bicyclo[1.1.1]pentanes (BCPs) and bicyclo[3.1.1]heptanes (BCHeps) are important motifs in contemporary drug design due to their potential to act as bioisosteres of disubstituted benzene rings, often resulting in compounds with improved physicochemical and pharmacokinetic properties. Access to such motifs with proximal nitrogen atoms (i.e. α-amino/amido bicycloalkanes) is highly desirable for drug discovery applications, but their synthesis is challenging. Here we report an approach to α-amino BCPs and BCHeps through the visible-light enabled addition of α-amino radicals to the interbridgehead C–C bonds of [1.1.1] and [3.1.1]propellane respectively. The reaction proceeds under exceptionally mild conditions and displays broad substrate scope, providing access to an array of medicinally-relevant BCP and BCHep products. Experimental and computational mechanistic studies provide evidence for a radical chain pathway which depends critically on the stability of the α-amino radical, as well as effective catalyst turnover

Inspædia: [Almost] Everything About Simplicity, Playfulness and Inspiration

The aim of this paper is to disclose the new research developments and the results from the systematization of experience and user interaction with the Inspædia (a new web knowledge “Agora”), to inspire a dynamic, collaborative, and interactive intelligence among the inspædiers. We will explain in detail and describe the design process and discuss the ultimate design interaction concept & development regarding (almost everything about) simplicity and playfulness of the inspædiers’ experience to transform relevant information (related > meanfull > useful) in productive knowledge (inspiration > insight > foresight) in a very easy and quick way (usability: learnability; understandability; operability; attractiveness...), with a smile in the face (satisfaction) and a wow in the mind (or in the soul).Inspædia is the natural consequence and development of the prototype resulting from the research in Design PhD thesis Innovation, design et cetera (FA/UTL, 2012). Therefore, it is being developed with the Science Without Borders Program (2013-2016) with a Special Visiting Researcher fellowship grant of CAPES (Brazil), and under the post-doctoral in Design at the Faculty of Architecture, University of Lisbon (FA/UL); CIAUD – Reseach Centre of Architecture, Urbanism and Design (FA/UL); Faculty of Sciences and Technology, Nova University of Lisbon (FCT/UNL); NOVA-LINCS (FCT/UNL) and CITAD - Research Centre for Territory, Architecture and Design (FAA/ULL). The Inspædia research project was ranked in first place in Design scientific area and obtained a post-doctoral fellowship by FCT – Foundation for Science and Technology (Portugal). The project has been internationally disseminated at international Design conferences with indexed publications. It was presented and published both at AHFE 2014 (Krakow) and AHFE 2015 (Las Vegas). It was part of the biennial Experimentadesign tangential events in 2013 (EXD'13), 2015 (EXD'15) and was presented, by invitation, at the International Congress DESIGN I-CON (2015). During the last year we prototyped and tested (usability testing) with some inspædiers different approaches to achieve users’ needs > desires > expectations) in a challenging way, in order to provide the most powerful and memorable user experience

DMD2010-3849 DESIGN OF AN ENDOSCOPE LENS SHIELDING DEVICE FOR USE IN LAPAROSCOPIC PROCEDURES

ABSTRACT In recent years, laparoscopic surgical procedures have revolutionized many gynecological and abdominal procedures, leading to dramatic reductions in recovery time and scarring for the patient. While techniques and instruments for performing laparoscopic surgery have improved over the years, loss of vision through the endoscopic lens caused by fog, liquid, and solid debris common to laparoscopic procedures remains a significant problem. In this paper, a shielding mechanism that maintains visibility through the laparoscope by removing debris from the distal end of the lens is presented. This device provides an inexpensive and convenient alternative to the current practice of removing, cleaning, and re-inserting the laparoscope during surgical procedures. This device is shown in multiple trials to repeatably remove debris from the distal tip of the lens, thereby restoring vision for the surgeon without requiring removal or reinsertion of the endoscope. INTRODUCTION Laparoscopic surgery provides a minimally invasive alternative to often-risky open procedures. Increasingly popular in recent years, laparoscopic surgery is currently used in many medical specialties, including urology, gynecology, and gastroenterolog

Atomic Processes in Planetary Nebulae and H II Regions

Spectroscopic studies of Planetary Nebulae (PNe) and H {\sc ii} regions have driven much development in atomic physics. In the last few years the combination of a generation of powerful observatories, the development of ever more sophisticated spectral modeling codes, and large efforts on mass production of high quality atomic data have led to important progress in our understanding of the atomic spectra of such astronomical objects. In this paper I review such progress, including evaluations of atomic data by comparisons with nebular spectra, detection of spectral lines from most iron-peak elements and n-capture elements, observations of hyperfine emission lines and analysis of isotopic abundances, fluorescent processes, and new techniques for diagnosing physical conditions based on recombination spectra. The review is directed toward atomic physicists and spectroscopists trying to establish the current status of the atomic data and models and to know the main standing issues.Comment: 9 pages, 1 figur

Global Scale, Physical Models of the \u3ci\u3eF\u3c/i\u3e Region Ionosphere

During the last decade, ionospheric F region modeling has reached an accurate climatological level. We now have global computer models of the F region which simulate the interactions between physical processes in the ionosphere. Because of their complexity, these climatological models are confined to modern day supercomputers. This review focuses on the development and verification of these physical ionospheric models. Such models are distinct from local models, steady state models, and empirical models of the ionosphere, which are, by their conception, unable to represent physically the range of F region variability or storm dynamics. This review examines the limitations of the physical models, which are at the present time mainly associated with inputs to the ionospheric system. Of these, the magnetospheric electric field and auroral precipitation are by far the most dominant and yet the least well-defined dynamic inputs. Several developments are currently under way which could well lead to meteorological modeling capabilities in the next decade. For this the use of higher-resolution inputs, both temporal and spatial (for example, auroral imagery), is critical. Coupling the ionospheric models with thermospheric and magnetospheric models will lead to self-consistency and probably a predictive capability. Coupling to thermospheric models is currently under way; however, coupling with the magnetosphere must await the development of a magnetospheric model

Brain mapping in cognitive disorders: a multidisciplinary approach to learning the tools and applications of functional neuroimaging

<p>Abstract</p> <p>Background</p> <p>With rapid advances in functional imaging methods, human studies that feature functional neuroimaging techniques are increasing exponentially and have opened a vast arena of new possibilities for understanding brain function and improving the care of patients with cognitive disorders in the clinical setting. There is a growing need for medical centers to offer clinically relevant functional neuroimaging courses that emphasize the multifaceted and multidisciplinary nature of this field. In this paper, we describe the implementation of a functional neuroimaging course focusing on cognitive disorders that might serve as a model for other medical centers. We identify key components of an active learning course design that impact student learning gains in methods and issues pertaining to functional neuroimaging that deserve consideration when optimizing the medical neuroimaging curriculum.</p> <p>Methods</p> <p>Learning gains associated with the course were assessed using polychoric correlation analysis of responses to the SALG (Student Assessment of Learning Gains) instrument.</p> <p>Results</p> <p>Student gains in the functional neuroimaging of cognition as assessed by the SALG instrument were strongly associated with several aspects of the course design.</p> <p>Conclusion</p> <p>Our implementation of a multidisciplinary and active learning functional neuroimaging course produced positive learning outcomes. Inquiry-based learning activities and an online learning environment contributed positively to reported gains. This functional neuroimaging course design may serve as a useful model for other medical centers.</p

Increased expression of carbonic anhydrase I in the synovium of patients with ankylosing spondylitis

<p>Abstract</p> <p>Background</p> <p>One of the most distinctive features of ankylosing spondylitis (AS) is new bone formation and bone resorption at sites of chronic inflammation. Previous studies have indicated that the hyperplasia and inflammation of synovial tissues are significantly related to the pathogenic process of AS. The present study used a proteomic approach to identify novel AS-specific proteins by simultaneously comparing the expression profiles of synovial membranes from patients with AS, rheumatoid arthritis (RA) and osteoarthritis (OA).</p> <p>Methods</p> <p>Synovial tissues were collected from the hip joints of patients with AS and knee joints of patients with RA or OA (n = 10 for each disease) during joint replacement surgery. Proteins extracted from the synovial tissues were separated by 2-D electrophoresis (2-DE), and the proteins with significantly increased expression in the AS samples were subjected to MALDI-TOF/TOF-MS analysis. The results were verified using western blotting and immunohistochemistry. Levels of the candidate proteins in synovial fluids from knee joints (n = 40 for each disease) were measured using ELISA.</p> <p>Results</p> <p>The proteomic approach revealed significantly increased expression of carbonic anhydrase I (CA1) in the synovial membrane of patients with AS as compared with the RA and OA tissue samples. Immunohistochemistry and western blotting analysis confirmed the findings described above. The ELISA detected a higher level of CA1 in synovial fluids from patients with AS than those with OA. The mean value of the CA1 level was also higher in AS patients as compared with RA patients. This study also detected increased expression of alpha-1-antitrypsin in the synovial tissues from AS patients, which is in agreement with other reports.</p> <p>Conclusion</p> <p><it>In vitro </it>experiments by other groups indicated that CA1 catalyzes the generation of HCO₃^-through the hydration of CO₂, which then combines with Ca²⁺to form a CaCO3 precipitate. Calcification is an essential step of bone formation. Substantial evidence indicates that carbonic anhydrase also stimulates bone resorption. Hence, overexpression of CA1 in the synovial tissues of AS patients may promote improper calcification and bone resorption in AS.</p