Tree Memory Networks for Modelling Long-term Temporal Dependencies

In the domain of sequence modelling, Recurrent Neural Networks (RNN) have been capable of achieving impressive results in a variety of application areas including visual question answering, part-of-speech tagging and machine translation. However this success in modelling short term dependencies has not successfully transitioned to application areas such as trajectory prediction, which require capturing both short term and long term relationships. In this paper, we propose a Tree Memory Network (TMN) for modelling long term and short term relationships in sequence-to-sequence mapping problems. The proposed network architecture is composed of an input module, controller and a memory module. In contrast to related literature, which models the memory as a sequence of historical states, we model the memory as a recursive tree structure. This structure more effectively captures temporal dependencies across both short term and long term sequences using its hierarchical structure. We demonstrate the effectiveness and flexibility of the proposed TMN in two practical problems, aircraft trajectory modelling and pedestrian trajectory modelling in a surveillance setting, and in both cases we outperform the current state-of-the-art. Furthermore, we perform an in depth analysis on the evolution of the memory module content over time and provide visual evidence on how the proposed TMN is able to map both long term and short term relationships efficiently via a hierarchical structure

Multi-rotor with suspended load: System Dynamics and Control Toolbox

There is an increasing demand for Unmanned Aerial Systems (UAS) to carry suspended loads as this can provide significant benefits to several applications in agriculture, law enforcement and construction. The load impact on the underlying system dynamics should not be neglected as significant feedback forces may be induced on the vehicle during certain flight manoeuvres. The constant variation in operating point induced by the slung load also causes conventional controllers to demand increased control effort. Much research has focused on standard multi-rotor position and attitude control with and without a slung load. However, predictive control schemes, such as Nonlinear Model Predictive Control (NMPC), have not yet been fully explored. To this end, we present a novel controller for safe and precise operation of multi-rotors with heavy slung load in three dimensions. The paper describes a System Dynamics and Control Simulation Toolbox for use with MATLAB/SIMULINK which includes a detailed simulation of the multi-rotor and slung load as well as a predictive controller to manage the nonlinear dynamics whilst accounting for system constraints. It is demonstrated that the controller simultaneously tracks specified waypoints and actively damps large slung load oscillations. A linear-quadratic regulator (LQR) is derived and control performance is compared. Results show the improved performance of the predictive controller for a larger flight envelope, including aggressive manoeuvres and large slung load displacements. The computational cost remains relatively small, amenable to practical implementations

String stable integral control design for vehicle platoons with disturbances

This paper presents a control design with integral action for vehicle platoons with disturbance that ensures string stability of the closed loop and disturbance rejection. The addition of integral action and a coordinate change allows to develop sufficient smoothness conditions on the closed loop system to ensure that the closed loop system using the proposed controller is string stable in the presence of time-varying disturbances and able able to reject constant disturbances. In addition, bounds for the tracking error of the platoon configuration are also given. Further, a case study is considered together with a suitable controller structure, which satisfies the required smoothness conditions. Simulation results illustrate the performance of the closed loop.Comment: 7 pages, 3 figures, submitted to Automatic

Assisted Control for Semi-Autonomous Power Infrastructure Inspection using Aerial Vehicles

This paper presents the design and implementation of an assisted control technology for a small multirotor platform for aerial inspection of fixed energy infrastructure. Sensor placement is supported by a theoretical analysis of expected sensor performance and constrained platform behaviour to speed up implementation. The optical sensors provide relative position information between the platform and the asset, which enables human operator inputs to be autonomously adjusted to ensure safe separation. The assisted control approach is designed to reduced operator workload during close proximity inspection tasks, with collision avoidance and safe separation managed autonomously. The energy infrastructure includes single vertical wooden poles and crossarm with attached overhead wires. Simulated and real experimental results are provided.Comment: to appear in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018

Exactly Optimal Quickest Change Detection of Markov Chains

This paper establishes that an exactly optimal rule for Bayesian Quickest Change Detection (QCD) of Markov chains is a threshold test on the no change posterior. We also provide a computationally efficient scalar filter for the no change posterior whose effort is independent of the dimension of the chains. We establish that an (undesirable) weak practical super-martingale phenomenon can be exhibited by the no change posterior when the before and after chains are too close in a relative entropy rate sense. The proposed detector is examined in simulation studies.Comment: 6 pages, 3 figure

Case Reports1. A Late Presentation of Loeys-Dietz Syndrome: Beware of TGFβ Receptor Mutations in Benign Joint Hypermobility

Background: Thoracic aortic aneurysms (TAA) and dissections are not uncommon causes of sudden death in young adults. Loeys-Dietz syndrome (LDS) is a rare, recently described, autosomal dominant, connective tissue disease characterized by aggressive arterial aneurysms, resulting from mutations in the transforming growth factor beta (TGFβ) receptor genes TGFBR1 and TGFBR2. Mean age at death is 26.1 years, most often due to aortic dissection. We report an unusually late presentation of LDS, diagnosed following elective surgery in a female with a long history of joint hypermobility. Methods: A 51-year-old Caucasian lady complained of chest pain and headache following a dural leak from spinal anaesthesia for an elective ankle arthroscopy. CT scan and echocardiography demonstrated a dilated aortic root and significant aortic regurgitation. MRA demonstrated aortic tortuosity, an infrarenal aortic aneurysm and aneurysms in the left renal and right internal mammary arteries. She underwent aortic root repair and aortic valve replacement. She had a background of long-standing joint pains secondary to hypermobility, easy bruising, unusual fracture susceptibility and mild bronchiectasis. She had one healthy child age 32, after which she suffered a uterine prolapse. Examination revealed mild Marfanoid features. Uvula, skin and ophthalmological examination was normal. Results: Fibrillin-1 testing for Marfan syndrome (MFS) was negative. Detection of a c.1270G > C (p.Gly424Arg) TGFBR2 mutation confirmed the diagnosis of LDS. Losartan was started for vascular protection. Conclusions: LDS is a severe inherited vasculopathy that usually presents in childhood. It is characterized by aortic root dilatation and ascending aneurysms. There is a higher risk of aortic dissection compared with MFS. Clinical features overlap with MFS and Ehlers Danlos syndrome Type IV, but differentiating dysmorphogenic features include ocular hypertelorism, bifid uvula and cleft palate. Echocardiography and MRA or CT scanning from head to pelvis is recommended to establish the extent of vascular involvement. Management involves early surgical intervention, including early valve-sparing aortic root replacement, genetic counselling and close monitoring in pregnancy. Despite being caused by loss of function mutations in either TGFβ receptor, paradoxical activation of TGFβ signalling is seen, suggesting that TGFβ antagonism may confer disease modifying effects similar to those observed in MFS. TGFβ antagonism can be achieved with angiotensin antagonists, such as Losartan, which is able to delay aortic aneurysm development in preclinical models and in patients with MFS. Our case emphasizes the importance of timely recognition of vasculopathy syndromes in patients with hypermobility and the need for early surgical intervention. It also highlights their heterogeneity and the potential for late presentation. Disclosures: The authors have declared no conflicts of interes

Design and evaluation of decision and control strategies for autonomous vision-based see and avoid systems

This paper details the design and performance assessment of a unique collision avoidance decision and control strategy for autonomous vision-based See and Avoid systems. The general approach revolves around re-positioning a collision object in the image using image-based visual servoing, without estimating range or time to collision. The decision strategy thus involves determining where to move the collision object, to induce a safe avoidance manuever, and when to cease the avoidance behaviour. These tasks are accomplished by exploiting human navigation models, spiral motion properties, expected image feature uncertainty and the rules of the air. The result is a simple threshold based system that can be tuned and statistically evaluated by extending performance assessment techniques derived for alerting systems. Our results demonstrate how autonomous vision-only See and Avoid systems may be designed under realistic problem constraints, and then evaluated in a manner consistent to aviation expectations

Visual control for automated aircraft collision avoidance systems

This thesis presents a new vision-based decision and control strategy for automated aircraft collision avoidance that can be realistically applied to the See and Avoid problem. The effectiveness of the control strategy positions the research as a major contribution toward realising the simultaneous operation of manned and unmanned aircraft within civilian airspace. Key developments include novel classical and visual predictive control frameworks, and a performance evaluation technique aligned with existing aviation practise and applicable to autonomous systems. The overall approach is demonstrated through experimental results on a small multirotor unmanned aircraft, and through high fidelity probabilistic simulation studies

Probabilistic Determination of Maximum Safe Altitudes for Unmanned Traffic Management

This paper considers the problem of automatically determining maximum safe altitudes for unmanned aircraft operating within the aerodrome environment. First, the spatial-temporal behaviour of manned aircraft is modelled at each airspace location defined by a planer polar grid with centre at the aerodrome reference point. Second, an arbitrarily defined vertical separation threshold, unmanned altitude uncertainty and target level of safety (defined as the encounter likelihood) is used to back derive the corresponding maximum safe altitude at each location. Example results are presented for a major Australian aerodrome, including a comparative study with an existing quantitative approach currently considered by regulators. Results highlight the utility of the proposed approach for practical applications that support unmanned traffic management such as automated facility map generation and flight approval.</p