Multilayer Graph-Based Trajectory Planning for Race Vehicles in Dynamic Scenarios

Trajectory planning at high velocities and at the handling limits is a challenging task. In order to cope with the requirements of a race scenario, we propose a far-sighted two step, multi-layered graph-based trajectory planner, capable to run with speeds up to 212~km/h. The planner is designed to generate an action set of multiple drivable trajectories, allowing an adjacent behavior planner to pick the most appropriate action for the global state in the scene. This method serves objectives such as race line tracking, following, stopping, overtaking and a velocity profile which enables a handling of the vehicle at the limit of friction. Thereby, it provides a high update rate, a far planning horizon and solutions to non-convex scenarios. The capabilities of the proposed method are demonstrated in simulation and on a real race vehicle.Comment: Accepted at The 22nd IEEE International Conference on Intelligent Transportation Systems, October 27 - 30, 201

ROS-based localization of a race vehicle at high-speed using LIDAR

An approach for LIDAR-based localization at high speeds is presented. In the proposed framework, the laser pose estimation is treated as a parallel redundant information, which is fused in an adjacent Kalman filter. The measurement and motion update step of the ROS-based adaptive Monte Carlo localization package is modified, in order to meet the requirements of a high-speed race scenario. Thereby, the key focus is on computational efficiency and the adaptation to characteristics arising at high speeds and at the limits of handling. An introspective performance evaluation monitors the position estimation process and labels generated outputs for adjacent components accordingly. The effectiveness of the proposed algorithm is illustrated in a real world high-speed experiment, autonomously driving a race vehicle – the DevBot – in a typical race environment

MAGE-C2/CT10 Protein Expression Is an Independent Predictor of Recurrence in Prostate Cancer

The cancer-testis (CT) family of antigens is expressed in a variety of malignant neoplasms. In most cases, no CT antigen is found in normal tissues, except in testis, making them ideal targets for cancer immunotherapy. A comprehensive analysis of CT antigen expression has not yet been reported in prostate cancer. MAGE-C2/CT-10 is a novel CT antigen. The objective of this study was to analyze extent and prognostic significance of MAGE-C2/CT10 protein expression in prostate cancer. 348 prostate carcinomas from consecutive radical prostatectomies, 29 castration-refractory prostate cancer, 46 metastases, and 45 benign hyperplasias were immunohistochemically analyzed for MAGE-C2/CT10 expression using tissue microarrays. Nuclear MAGE-C2/CT10 expression was identified in only 3.3% primary prostate carcinomas. MAGE-C2/CT10 protein expression was significantly more frequent in metastatic (16.3% positivity) and castration-resistant prostate cancer (17% positivity; p<0.001). Nuclear MAGE-C2/CT10 expression was identified as predictor of biochemical recurrence after radical prostatectomy (p = 0.015), which was independent of preoperative PSA, Gleason score, tumor stage, and surgical margin status in multivariate analysis (p<0.05). MAGE-C2/CT10 expression in prostate cancer correlates with the degree of malignancy and indicates a higher risk for biochemical recurrence after radical prostatectomy. Further, the results suggest MAGE-C2/CT10 as a potential target for adjuvant and palliative immunotherapy in patients with prostate cancer

Admissible dissimilarity value (ADV) as a measure of subsampling reliability: case study North Sea cod (Gadus morhua)

The shape of the length frequency distribution (LFD) is an important input for stock assessments and one of the most important features in studies of fish population dynamics, providing estimates of growth parameters. In practice, oversampling may occur when sampling commercially important species. At times of more and more limited resources, the length sample size can be optimized at some stages of national or regional sampling programmes, without reducing the quality of stock assessments. The main objective of this study is to demonstrate a general distribution-free methodological approach for an optimization of sample size developed as an alternative to both analytical and bootstrap approaches. A novel framework to identify the reduced but still informative sample and to quantify the (dis) similarity between reduced and original samples is proposed. The identification procedure is based on the concept of reference subsample, which represents a theoretical minimal representative subsample that despite smaller sample size still preserves a reasonably precise LFD for certain species. The difference between the original sample and the reference subsample called admissible dissimilarity value (ADV) serves as the upper threshold and can be used to quantify the reliability of derived subsamples. Monte Carlo simulations were conducted to validate the approach under various LFD shapes. We illustrate in case studies how ADV can support to evaluate adequate sampling effort. The case studies focus on length samples from the German commercial vessels fishing for North Sea cod (Gadus morhua)

ROS-based localization of a race vehicle at high-speed using LIDAR

An approach for LIDAR-based localization at high speeds is presented. In the proposed framework, the laser pose estimation is treated as a parallel redundant information, which is fused in an adjacent Kalman filter. The measurement and motion update step of the ROS-based adaptive Monte Carlo localization package is modified, in order to meet the requirements of a high-speed race scenario. Thereby, the key focus is on computational efficiency and the adaptation to characteristics arising at high speeds and at the limits of handling. An introspective performance evaluation monitors the position estimation process and labels generated outputs for adjacent components accordingly. The effectiveness of the proposed algorithm is illustrated in a real world high-speed experiment, autonomously driving a race vehicle – the DevBot – in a typical race environment

TUM Autonomous Motorsport: An Autonomous Racing Software for the Indy Autonomous Challenge

For decades, motorsport has been an incubator for innovations in the automotive sector and brought forth systems like disk brakes or rearview mirrors. Autonomous racing series such as Roborace, F1Tenth, or the Indy Autonomous Challenge (IAC) are envisioned as playing a similar role within the autonomous vehicle sector, serving as a proving ground for new technology at the limits of the autonomous systems capabilities. This paper outlines the software stack and approach of the TUM Autonomous Motorsport team for their participation in the Indy Autonomous Challenge, which holds two competitions: A single-vehicle competition on the Indianapolis Motor Speedway and a passing competition at the Las Vegas Motor Speedway. Nine university teams used an identical vehicle platform: A modified Indy Lights chassis equipped with sensors, a computing platform, and actuators. All the teams developed different algorithms for object detection, localization, planning, prediction, and control of the race cars. The team from TUM placed first in Indianapolis and secured second place in Las Vegas. During the final of the passing competition, the TUM team reached speeds and accelerations close to the limit of the vehicle, peaking at around 270 km/h and 28 ms2. This paper will present details of the vehicle hardware platform, the developed algorithms, and the workflow to test and enhance the software applied during the two-year project. We derive deep insights into the autonomous vehicle's behavior at high speed and high acceleration by providing a detailed competition analysis. Based on this, we deduce a list of lessons learned and provide insights on promising areas of future work based on the real-world evaluation of the displayed concepts.Comment: 37 pages, 18 figures, 2 table

Symmetrical dental occlusion blocking – changes of body sway and weight distribution in healthy subjects across 4 age decades

Objectives: Symmetrical dental occlusion blocking is used in dentistry as a quick diagnostic tool to test for potential influences of the craniomandibular system on body sway and weight distribution. This study presents the changes of body sway and pressure distribution in healthy subjects, free of a temporomandibular dysfunction (TMD). Immediate effects between occlusal blocking and rest position on body sway and body weight distribution in general, as well as for both genders and for four age decades will be evaluated. Materials and methods: 725 (396f/329 m) subjects (neither subjective signs of TMD nor acute/chronic complaints in the musculoskeletal system) volunteered (21 to 60 years) while both genders were divided into four age groups according to decades. A pressure measuring platform was used. Body sway and weight distribution were recorded in two dental occlusion conditions (a) in rest position and (b) symmetrical blocking (bicuspid region) by cotton rolls. Results: Both, the frontal sway and the sagittal sway reduced by 0.67 mm (t(724) = − 3.9 (p <  0.001)) and by 0.33 mm (t(724) = − 3.4 (p <  0.001)). The relative pressure under the left forefoot increased by 0.33% (t(724) = 2.88 (p <  0.001)) and the relative pressure overall under the forefoot increased by 0.67% (t(724) = − 3.4 (p <  0.001)). Gender-specific, age-specific and BMI-specific reactions could not be identified. Conclusions: Subjects, free of any TMD and with no complaints of the musculoskeletal system, show small changes of the body sway and weight distribution when biting symmetrically on a cotton roll. These changes are independent of age, gender or body mass index (BMI). Due to the relative large sample size, the presented results can also be seen as norm values when body sway is used as an additional assessment of a TMD

Systematic changes of the static upper body posture with a symmetric occlusion condition

Background: Temporary occlusal changes and their influence on the upper body statics are still controversially discussed. Furthermore, concrete statements on whether age- or gender-specific differences in neurophysiological reactions exist are missing. Therefore, it is the aim of this study to evaluate the immediate effects of a symmetrical occlusion blocking on the upper body posture. These effects shall be investigated for both genders and for a larger age range. Methods: In this study, 800 (407f/393 m) subjects volunteered aged from 21 to 60 years. Both genders were divided into four age groups according to decades. The three-dimensional upper body posture was measured by using the rasterstereography (ABW-Bodymapper). The habitual static posture was measured in two dental occlusion conditions (a) in rest position and (b) symmetrical blocking in the bicuspid region by cotton rolls. Results: A significant reduction of the trunk length (0.72 mm; p <  0.001), an increase of the lumbar (0.30°; p <  0.001) and the thoracic bending angle (0.14°; p = 0.001), a reduction of the spinal forward decline (0.16°; p <  0.001) and a reduction of the scapular distance (0.36 mm; p = 0.001) was found. Gender-specific reactions can only be recorded in scapular distance, in that regard men reduce this distance while over all age groups women did not show a significant change. Discussion: Slight gender- and age-independent reactions due to a symmetric occlusion blockade are shown: A gender independent reaction of the spinal related variables in the sagittal plane (thoracic and lumbar flexion angle, trunk length, spinal forward decline). In addition, a gender specific change of the shoulder blade distance could be observed, where men reduced the distance while female did not show a change. However, since these reactions are of a minimum amount, it can be concluded that neurophysiological compensation mechanisms work equally well regardless of age and sex, and the upper body posture of healthy people changes only very slightly due to a temporarily symmetrical altered bite position