Deep Predictive Models for Collision Risk Assessment in Autonomous Driving

In this paper, we investigate a predictive approach for collision risk assessment in autonomous and assisted driving. A deep predictive model is trained to anticipate imminent accidents from traditional video streams. In particular, the model learns to identify cues in RGB images that are predictive of hazardous upcoming situations. In contrast to previous work, our approach incorporates (a) temporal information during decision making, (b) multi-modal information about the environment, as well as the proprioceptive state and steering actions of the controlled vehicle, and (c) information about the uncertainty inherent to the task. To this end, we discuss Deep Predictive Models and present an implementation using a Bayesian Convolutional LSTM. Experiments in a simple simulation environment show that the approach can learn to predict impending accidents with reasonable accuracy, especially when multiple cameras are used as input sources.Comment: 8 pages, 4 figure

Optimization of Renormalization Group Flow

Renormalization group flow equations for scalar lambda Phi^4 are generated using three classes of smooth smearing functions. Numerical results for the critical exponent nu in three dimensions are calculated by means of a truncated series expansion of the blocked potential. We demonstrate how the convergence of nu as a function of the order of truncation can be improved through a fine tuning of the smoothness of the smearing functions.Comment: 23 pages, 7 figure

Migratory Typing: Ten Years Later

In this day and age, many developers work on large, untyped code repositories. Even if they are the creators of the code, they notice that they have to figure out the equivalent of method signatures every time they work on old code. This step is time consuming and error prone. Ten years ago, the two lead authors outlined a linguistic solution to this problem. Specifically they proposed the creation of typed twins for untyped programming languages so that developers could migrate scripts from the untyped world to a typed one in an incremental manner. Their programmatic paper also spelled out three guiding design principles concerning the acceptance of grown idioms, the soundness of mixed-typed programs, and the units of migration. This paper revisits this idea of a migratory type system as implemented for Racket. It explains how the design principles have been used to produce the Typed Racket twin and presents an assessment of the project\u27s status, highlighting successes and failures

Exploring aspects of agile software development risk – results from a MLR

Agile software development methods are widely used by software organisations, focusing on short developmental life cycles and customer satisfaction through the iterative and incremental development of software products. Despite their popularity, these methods present risks that may be underappreciated. This paper examines certain risks attributed to agile software development, with a focus on the lack of documentation, scope creep, technical debt and job satisfaction. Through the application of a multivocal literature review, we find that agile software development can greatly benefit projects. However, when agile methods are implemented inappropriately or sub-optimally, projects risk over-spending, delayed or defective software, employee turnover, and overall decreased productivity. Understanding the risks associated with agile software development can help practitioners to achieve higher efficiency and success in their software development projects

Vasoactivity and Vasoconstriction Changes in Cattle Related to Time Off Toxic Endophyte-Infected Tall Fescue

Previous research has indicated that serotonergic and α-adrenergic receptors in peripheral vasculature are affected by exposure of cattle grazing toxic endophyte-infected (E+; Epichlöe coenophialia) tall fescue (Lolium arundinaceum). The objective of this experiment was to determine the period of time necessary for the vascular effects of ergot alkaloids to subside. Two experiments were conducted to investigate changes in vascular contractile response and vasoconstriction over time relative to removal from an ergot alkaloid-containing E+ tall fescue pasture. In Experiment 1, lateral saphenous vein biopsies were conducted on 21 predominantly Angus steers (357 ± 3 kg body weight) at 0 (n = 6), 7 (n = 6), 14 (n = 5), or 28 days (n = 4) after removal from grazing pasture (3.0 ha; endpoint ergovaline + ergovalinine = 1.35 mg/kg DM) for 126 days. In Experiment 2, lateral saphenous veins were biopsied from 24 Angus-cross steers (361 ± 4 kg body weight) at 0, 21, 42, and 63 days (n = 6 per time point) following removal from grazing tall fescue pastures (3.0 ha; first 88 days endpoint ergovaline + ergovalinine = 0.15 mg/kg DM; last 18 days endpoint ergovaline + ergovalinine = 0.57 mg/kg DM) for 106 total days. Six steers (370 ± 18 kg body weight) off of bermudagrass pasture for the same time interval were also biopsied on Day 0 and Day 63 (n = 3 per time point). Additionally, in Experiment 2, cross-sectional ultrasound scans of caudal artery at the fourth coccygeal vertebra were taken on Days 0, 8, 15, 21, 29, 36, 42, and 45 to determine mean artery luminal area to evaluate vasoconstriction. In both experiments, steers were removed from pasture and housed in a dry lot and fed a corn silage diet for the duration of biopsies and ultrasound scans. Biopsied vessels used to evaluate vasoactivity were cleaned, incubated in a multimyograph, and exposed to increasing concentrations of 4-Bromo-3,6-dimethoxybenzocyclobuten-1-yl) methylamine hydrobromide (TCB2; 5HT2A agonist), guanfacine (GF; α2A-adrenergic agonist), and (R)-(+)-m-nitrobiphenyline oxalate (NBP; α2C-adrenergic agonist) in both experiments and ergovaline (ERV) and ergotamine (ERT) in Experiments 1 and 2, respectively. In Experiment 1, days off pasture × agonist concentration was not significant (p \u3e 0.1) for all four compounds tested. In Experiment 2, GF, NBP, TCB2 and ERT were significant for days off pasture × agonist concentration interaction (p \u3c 0.02) and vasoactivity increased over time. Vasoactivity to agonists was reduced (p \u3c 0.05) when steers were initially removed from E+ tall fescue pasture compared to bermudagrass, but did not differ by Day 63 for any variable. Luminal areas of caudal arteries in steers grazed on E+ tall fescue relaxed and were similar to steers that had grazed bermudagrass for 36 days on non-toxic diet (p = 0.15). These data demonstrate changes in peripheral vasoactivity and recovery from vasoconstriction occur beyond five weeks off toxic pasture and 5HT2A receptors appear to be more dramatically affected in the lateral saphenous vein by grazing E+ tall fescue pasture than adrenergic receptors

The influence of photoperiod and light intensity on the growth and photosynthesis of Dunaliella salina (chlorophyta) CCAP 19/30

The green microalga Dunaliella salina survives in a wide range of salinities via mechanisms involving glycerol synthesis and degradation and is exploited for large amounts of nutraceutical carotenoids produced under stressed conditions. In this study, D. salina CCAP 19/30 was cultured in varying photoperiods and light intensities to study the relationship of light with different growth measurement parameters, with cellular contents of glycerol, starch and carotenoids, and with photosynthesis and respiration. Results show CCAP 19/30 regulated cell volume when growing under light/dark cycles: cell volume increased in the light and decreased in the dark, and these changes corresponded to changes in cellular glycerol content. The decrease in cell volume in the dark was independent of cell division and biological clock and was regulated by the photoperiod of the light/dark cycle. When the light intensity was increased to above 1000 μmol photons m−2 s−1, cells displayed evidence of photodamage. However, these cells also maintained the maximum level of photosynthesis efficiency and respiration possible, and the growth rate increased as light intensity increased. Significantly, the intracellular glycerol content also increased, >2-fold compared to the content in light intensity of 500 μmol photons m−2 s−1, but there was no commensurate increase in the pool size of carotenoids. These data suggest that in CCAP 19/30 glycerol stabilized the photosynthetic apparatus for maximum performance in high light intensities, a role normally attributed to carotenoids

Dimensional Crossover and Effective Exponents

We investigate the critical behavior of the lambda phi^4 theory defined on S^1 x R^d having two finite length scales beta, the circumference of S^1, and k^{-1}, the blocking scale introduced by the renormalization group transformation. By numerically solving the coupled differential RG equations for the finite-temperature blocked potential U_{beta,k}(Phi) and the wavefunction renormalization constant Z_{beta,k}(Phi), we demonstrate how the finite-size scaling variable betabar = beta k determines whether the phase transition is (d+1)- or d-dimensional in the limits betabar >> 1 and betabar << 1, respectively. For the intermediate values of betabar, finite-size effects play an important role. We also discuss the failure of the polynomial expansion of the effective potential near criticality.Comment: 24 pages, TeX, 8 figures in separate file, Updated version to appear in Nucl. Phys.