Probabilistic Motion Planning for Automated Vehicles

This thesis targets the problem of motion planning for automated vehicles. As a prerequisite for their on-road deployment, automated vehicles must show an appropriate and reliable driving behavior in mixed traffic, i.e. alongside human drivers. Besides the uncertainties resulting from imperfect perception, occlusions and limited sensor range, also the uncertainties in the behavior of other traffic participants have to be considered. Related approaches for motion planning in mixed traffic often employ a deterministic problem formulation. The solution of such formulations is restricted to a single trajectory. Deviations from the prediction of other traffic participants are accounted for during replanning, while large uncertainties lead to conservative and over-cautious behavior. As a result of the shortcomings of these formulations in cooperative scenarios and scenarios with severe uncertainties, probabilistic approaches are pursued. Due to the need for real-time capability, however, a holistic uncertainty treatment often induces a strong limitation of the action space of automated vehicles. Moreover, safety and traffic rule compliance are often not considered. Thus, in this work, three motion planning approaches and a scenario-based safety approach are presented. The safety approach is based on an existing concept, which targets the guarantee that automated vehicles will never cause accidents. This concept is enhanced by the consideration of traffic rules for crossing and merging traffic, occlusions, limited sensor range and lane changes. The three presented motion planning approaches are targeted towards the different predominant uncertainties in different scenarios, while operating in a continuous action space. For non-interactive scenarios with clear precedence, a probabilistic approach is presented. The problem is modeled as a partially observable Markov decision process (POMDP). In contrast to existing approaches, the underlying assumption is that the prediction of the future progression of the uncertainty in the behavior of other traffic participants can be performed independently of the automated vehicle\u27s motion plan. In addition to this prediction of currently visible traffic participants, the influence of occlusions and limited sensor range is considered. Despite its thorough uncertainty consideration, the presented approach facilitates planning in a continuous action space. Two further approaches are targeted towards the predominant uncertainties in interactive scenarios. In order to facilitate lane changes in dense traffic, a rule-based approach is proposed. The latter seeks to actively reduce the uncertainty in whether other vehicles willingly make room for a lane change. The generated trajectories are safe and traffic rule compliant with respect to the presented safety approach. To facilitate cooperation in scenarios without clear precedence, a multi-agent approach is presented. The globally optimal solution to the multi-agent problem is first analyzed regarding its ambiguity. If an unambiguous, cooperative solution is found, it is pursued. Still, the compliance of other vehicles with the presumed cooperation model is checked, and a conservative fallback trajectory is pursued in case of non-compliance. The performance of the presented approaches is shown in various scenarios with intersecting lanes, partly with limited visibility, as well as lane changes and a narrowing without predefined right of way

Stadt, Land, AfD

Im Beitrag entwickeln wir einen kritischen Blick auf die Geographie der Wahlergebnisse der Alternative für Deutschland (AfD) bei den Bundestagswahlen 2017. Wir hinterfragen Erklärungsmuster, die in einem starren Stadt-Land-Gegensatz verhaftet bleiben und die komplexe Prozesshaftigkeit der Urbanisierung ignorieren. Dagegen gehen wir mit Henri Lefebvre und Theodor W. Adorno vom Urbanen und Ruralen als sozialen Verhältnissen aus, die sich im übergeordneten Prozess der Urbanisierung in dialektischer Weise scheiden sowie räumlich im Spannungsverhältnis von Zentrum und Peripherie materialisieren. Beispielhaft illustrieren wir diesen Prozess in der Diskussion von drei unterschiedlichen Orten, an denen die AfD bei den Bundestagswahlen besonders erfolgreich war: dem Landkreis Vorpommern-Greifswald als Fall einer umfassenden Peripherisierung, dem Quartier Pforzheim-Haidach als peripheres Zentrum und dem Stadtteil Mannheim-Schönau als zentrale Peripherie. Der Beitrag versucht damit eine räumliche Perspektive auf aktuelle Erfolge des Rechtspopulismus zu entwickeln wie auch Stadt-Land-Verhältnisse konzeptionell neu zu erfassen

Da.zwischen: Musik erleben – Erleben vermitteln: Interinstitutionelle-interdisziplinäre-intermediale Arbeitstagung der Musikpädagogik 12.-13. Mai 2023: Tagungsband

Der vorliegende Tagungsband eröffnet Einblicke in ausgewählte Beiträge, Workshops, Gruppenimprovisationen und Performances der Arbeitstagung „DaZwischen 2023“: einer Initiative für eine interdisziplinäre musikpädagogische Begegnung von Lehrenden und Studierenden, Mitwirkenden und Teilnehmenden verschiedener Hochschulen und Universitäten. Das Dazwischen entfaltete sich zwischen den Disziplinen und Arbeitsfeldern und eröffnete sich in pädagogischen und spezifisch musikpädagogischen Aspekten. Im Kontext der Vermittlung des Ästhetischen, des ästhetischen Erlebens und der Intention, ästhetisches Erleben zu inszenieren, wurden unbestimmbare, widersprüchliche und ambivalente Zustände beschrieben und diskutiert. Geschieht Improvisation aktiv oder passiv, vollzieht sich Bildung in Freiheit oder intentional, was bewegt – oder lässt sich bewegen? Im DaZwischen erfüllt sich Unerfüllbares, verwirklicht sich Unplanbares. Der vorliegende Band fasst die ersten Impulse des in der Entwicklung begriffenen Symposiums zusammen und bietet Anknüpfungspunkte für eine interdisziplinäre Betrachtung der Didaktiken ästhetischer und musikalischer Bildung.The conference report offers an insight into lectures, group improvisations and performances from the 'DaZwischen 2023' labour conference. This event was created as an initiative for an interdisciplinary music education encounter between teachers and students from various institutions. In the context of conveying the aesthetic - the aesthetic experience and the intention of staging aesthetic experience - indeterminable, contradictory and ambivalent states of aesthetic consciousness and experiencing were described and discussed. This volume summarizes the initial impulses of this specific symposium and its stage in development and offers points of departure for an interdisciplinary consideration of the didactics of aesthetic and musical education

Impaired DNA damage response signaling by FUS-NLS mutations leads to neurodegeneration and FUS aggregate formation

Amyotrophic lateral sclerosis (ALS) is the most frequent motor neuron disease. Cytoplasmic fused in sarcoma (FUS) aggregates are pathological hallmarks of FUS-ALS. Proper shuttling between the nucleus and cytoplasm is essential for physiological cell function. However, the initial event in the pathophysiology of FUS-ALS remains enigmatic. Using human induced pluripotent stem cell (hiPSCs)-derived motor neurons (MNs), we show that impairment of poly(ADP-ribose) polymerase (PARP)-dependent DNA damage response (DDR) signaling due to mutations in the FUS nuclear localization sequence (NLS) induces additional cytoplasmic FUS mislocalization which in turn results in neurodegeneration and FUS aggregate formation. Our work suggests that a key pathophysiologic event in ALS is upstream of aggregate formation. Targeting DDR signaling could lead to novel therapeutic routes for ameliorating ALS

The German National Registry of Primary Immunodeficiencies (2012-2017)

Introduction: The German PID-NET registry was founded in 2009, serving as the first national registry of patients with primary immunodeficiencies (PID) in Germany. It is part of the European Society for Immunodeficiencies (ESID) registry. The primary purpose of the registry is to gather data on the epidemiology, diagnostic delay, diagnosis, and treatment of PIDs. Methods: Clinical and laboratory data was collected from 2,453 patients from 36 German PID centres in an online registry. Data was analysed with the software Stata® and Excel. Results: The minimum prevalence of PID in Germany is 2.72 per 100,000 inhabitants. Among patients aged 1–25, there was a clear predominance of males. The median age of living patients ranged between 7 and 40 years, depending on the respective PID. Predominantly antibody disorders were the most prevalent group with 57% of all 2,453 PID patients (including 728 CVID patients). A gene defect was identified in 36% of patients. Familial cases were observed in 21% of patients. The age of onset for presenting symptoms ranged from birth to late adulthood (range 0–88 years). Presenting symptoms comprised infections (74%) and immune dysregulation (22%). Ninety-three patients were diagnosed without prior clinical symptoms. Regarding the general and clinical diagnostic delay, no PID had undergone a slight decrease within the last decade. However, both, SCID and hyper IgE- syndrome showed a substantial improvement in shortening the time between onset of symptoms and genetic diagnosis. Regarding treatment, 49% of all patients received immunoglobulin G (IgG) substitution (70%—subcutaneous; 29%—intravenous; 1%—unknown). Three-hundred patients underwent at least one hematopoietic stem cell transplantation (HSCT). Five patients had gene therapy. Conclusion: The German PID-NET registry is a precious tool for physicians, researchers, the pharmaceutical industry, politicians, and ultimately the patients, for whom the outcomes will eventually lead to a more timely diagnosis and better treatment