scholarly journals Integrity Monitoring of Multimodal Perception System for Vehicle Localization

Sensors ◽  
2020 ◽  
Vol 20 (16) ◽  
pp. 4654
Author(s):  
Arjun Balakrishnan ◽  
Sergio Rodriguez Florez ◽  
Roger Reynaud
Keyword(s):  
Autonomous Driving ◽  
Data Representation ◽  
Assessment Framework ◽  
Grid Data ◽  
Integrity Monitoring ◽  
Vehicle Localization ◽  
Semantic Grid ◽  
Integrity Assessment ◽  
Perception System

Autonomous driving systems tightly rely on the quality of the data from sensors for tasks such as localization and navigation. In this work, we present an integrity monitoring framework that can assess the quality of multimodal data from exteroceptive sensors. The proposed multisource coherence-based integrity assessment framework is capable of handling highway as well as complex semi-urban and urban scenarios. To achieve such generalization and scalability, we employ a semantic-grid data representation, which can efficiently represent the surroundings of the vehicle. The proposed method is used to evaluate the integrity of sources in several scenarios, and the integrity markers generated are used for identifying and quantifying unreliable data. A particular focus is given to real-world complex scenarios obtained from publicly available datasets where integrity localization requirements are of high importance. Those scenarios are examined to evaluate the performance of the framework and to provide proof-of-concept. We also establish the importance of the proposed integrity assessment framework in context-based localization applications for autonomous vehicles. The proposed method applies the integrity assessment concepts in the field of aviation to ground vehicles and provides the Protection Level markers (Horizontal, Lateral, Longitudinal) for perception systems used for vehicle localization.

Applying the Swedish Performance Assessment Framework in practise: assessment of efficiency and quality of psychiatric care

2011 ◽  
Vol 38 (S 01) ◽  
Author(s):  
B Lindelius ◽  
E Björkenstam ◽  
C Dahlgren ◽  
R Ljung ◽  
C Stefansson
Keyword(s):  
Performance Assessment ◽  
Psychiatric Care ◽  
Assessment Framework

Imaging through Scattering Media with a Learning Based Prior

2020 ◽  
Vol 2020 (14) ◽  
pp. 306-1-306-6
Author(s):  
Florian Schiffers ◽  
Lionel Fiske ◽  
Pablo Ruiz ◽  
Aggelos K. Katsaggelos ◽  
Oliver Cossairt
Keyword(s):  
Optimization Problem ◽  
Autonomous Driving ◽  
Scattering Media ◽  
Photon Scattering ◽  
Point Spread ◽  
Spread Function ◽  
Radiative Transport Equation ◽  
Spatio Temporal ◽  
Transient Imaging

Imaging through scattering media finds applications in diverse fields from biomedicine to autonomous driving. However, interpreting the resulting images is difficult due to blur caused by the scattering of photons within the medium. Transient information, captured with fast temporal sensors, can be used to significantly improve the quality of images acquired in scattering conditions. Photon scattering, within a highly scattering media, is well modeled by the diffusion approximation of the Radiative Transport Equation (RTE). Its solution is easily derived which can be interpreted as a Spatio-Temporal Point Spread Function (STPSF). In this paper, we first discuss the properties of the ST-PSF and subsequently use this knowledge to simulate transient imaging through highly scattering media. We then propose a framework to invert the forward model, which assumes Poisson noise, to recover a noise-free, unblurred image by solving an optimization problem.

scholarly journals Hybrid Verification Technique for Decision-Making of Self-Driving Vehicles

2021 ◽  
Vol 10 (3) ◽  
pp. 42
Author(s):  
Mohammed Al-Nuaimi ◽  
Sapto Wibowo ◽  
Hongyang Qu ◽  
Jonathan Aitken ◽  
Sandor Veres
Keyword(s):  
Decision Making ◽  
Autonomous Vehicle ◽  
Autonomous Driving ◽  
Practical Implementation ◽  
Model Checker ◽  
Multi Agent Systems ◽  
Time Operation ◽  
Bdi Agent ◽  
Perception System ◽  
Probability Of Success

The evolution of driving technology has recently progressed from active safety features and ADAS systems to fully sensor-guided autonomous driving. Bringing such a vehicle to market requires not only simulation and testing but formal verification to account for all possible traffic scenarios. A new verification approach, which combines the use of two well-known model checkers: model checker for multi-agent systems (MCMAS) and probabilistic model checker (PRISM), is presented for this purpose. The overall structure of our autonomous vehicle (AV) system consists of: (1) A perception system of sensors that feeds data into (2) a rational agent (RA) based on a belief–desire–intention (BDI) architecture, which uses a model of the environment and is connected to the RA for verification of decision-making, and (3) a feedback control systems for following a self-planned path. MCMAS is used to check the consistency and stability of the BDI agent logic during design-time. PRISM is used to provide the RA with the probability of success while it decides to take action during run-time operation. This allows the RA to select movements of the highest probability of success from several generated alternatives. This framework has been tested on a new AV software platform built using the robot operating system (ROS) and virtual reality (VR) Gazebo Simulator. It also includes a parking lot scenario to test the feasibility of this approach in a realistic environment. A practical implementation of the AV system was also carried out on the experimental testbed.

scholarly journals Online Local Path Planning on the Campus Environment for Autonomous Driving Considering Road Constraints and Multiple Obstacles

2021 ◽  
Vol 11 (9) ◽  
pp. 3909
Author(s):  
Changhyeon Park ◽  
Seok-Cheol Kee
Keyword(s):  
Path Planning ◽  
Driving Simulator ◽  
Autonomous Driving ◽  
Campus Environment ◽  
Vehicle Localization ◽  
Time Operation ◽  
National University ◽  
Planning Algorithm ◽  
Path Planning Algorithm ◽  
Multiple Obstacles

In this paper, an urban-based path planning algorithm that considered multiple obstacles and road constraints in a university campus environment with an autonomous micro electric vehicle (micro-EV) is studied. Typical path planning algorithms, such as A*, particle swarm optimization (PSO), and rapidly exploring random tree* (RRT*), take a single arrival point, resulting in a lane departure situation on the high curved roads. Further, these could not consider urban-constraints to set collision-free obstacles. These problems cause dangerous obstacle collisions. Additionally, for drive stability, real-time operation should be guaranteed. Therefore, an urban-based online path planning algorithm, which is robust in terms of a curved-path with multiple obstacles, is proposed. The algorithm is constructed using two methods, A* and an artificial potential field (APF). To validate and evaluate the performance in a campus environment, autonomous driving systems, such as vehicle localization, object recognition, vehicle control, are implemented in the micro-EV. Moreover, to confirm the algorithm stability in the complex campus environment, hazard scenarios that complex obstacles can cause are constructed. These are implemented in the form of a delivery service using an autonomous driving simulator, which mimics the Chungbuk National University (CBNU) campus.

Structural Integrity Assessment of Free-Fall Lifeboats by Combining Fast Monte-Carlo Simulations With CFD by Means of Proxy Load Variables

2016 ◽  
Author(s):  
Sébastien Fouques ◽  
Ole Andreas Hermundstad
Keyword(s):  
Monte Carlo ◽  
Monte Carlo Simulations ◽  
Structural Integrity ◽  
Free Fall ◽  
Integrity Assessment ◽  
Proxy Variables ◽  
Pressure Load ◽  
Calm Water ◽  
Measured Pressure

The paper is concerned with the launch of free-fall lifeboats (FFL). It proposes a method that complies with the DNV-OS-E406 standard in order to select characteristic launches from Monte Carlo simulations for further structural load assessment with CFD and FEM. Proxy variables derived from kinematic parameters and aiming at predicting pressure load indicators are computed with the VARUNA launch simulator developed by MARINTEK. The statistical distributions of the proxy variables obtained from the Monte Carlo simulations are used to identify critical scenarios, and characteristic launches can then be selected from a chosen probability level. The feasibility of the proposed method is documented in the paper for several types of pressure loads. Existing model test data from various FFL-launch campaigns in calm water and in waves are used to compute the proxy variables as it would be done in the VARUNA simulator. Scatter diagrams showing the correlation with actual measured pressure load indicators are then established to assess the quality of the chosen proxy variables.

Misconduct in research integrity: Assessment the quality of systematic reviews in Cochrane urological cancer review group

2021 ◽  
Vol 47 (5) ◽  
pp. 392-419
Author(s):  
Hanieh Salehi-Pourmehr ◽  
◽  
Amirreza Naseri ◽  
Ali Mostafaei ◽  
Leila Vahedi ◽  
...  
Keyword(s):  
Systematic Reviews ◽  
Research Integrity ◽  
Urological Cancer ◽  
Review Group ◽  
Integrity Assessment ◽  
Cancer Review

scholarly journals Data Quality: A Negotiator between Paper-based and Digital Records in the Pakistan’s TB Control Program

2018 ◽  
Author(s):  
Syed Mustafa Ali ◽  
Farah Naureen ◽  
Arif Noor ◽  
Maged Kamel N. Boulos ◽  
Javariya Aamir ◽  
...  
Keyword(s):  
Data Quality ◽  
Quality Assessment ◽  
Control Program ◽  
Digital Data ◽  
Patient Treatment ◽  
Assessment Framework ◽  
Healthcare Organizations ◽  
Data Quality Assessment ◽  
Quality Issues

Background Increasingly, healthcare organizations are using technology for the efficient management of data. The aim of this study was to compare the data quality of digital records with the quality of the corresponding paper-based records by using data quality assessment framework. Methodology We conducted a desk review of paper-based and digital records over the study duration from April 2016 to July 2016 at six enrolled TB clinics. We input all data fields of the patient treatment (TB01) card into a spreadsheet-based template to undertake a field-to-field comparison of the shared fields between TB01 and digital data. Findings A total of 117 TB01 cards were prepared at six enrolled sites, whereas just 50% of the records (n=59; 59 out of 117 TB01 cards) were digitized. There were 1,239 comparable data fields, out of which 65% (n=803) were correctly matched between paper based and digital records. However, 35% of the data fields (n=436) had anomalies, either in paper-based records or in digital records. 1.9 data quality issues were calculated per digital patient record, whereas it was 2.1 issues per record for paper-based record. Based on the analysis of valid data quality issues, it was found that there were more data quality issues in paper-based records (n=123) than in digital records (n=110). Conclusion There were fewer data quality issues in digital records as compared to the corresponding paper-based records. Greater use of mobile data capture and continued use of the data quality assessment framework can deliver more meaningful information for decision making.

An Innovative Approach for Pipeline Repairs

2002 ◽  
Author(s):  
Don Robertson ◽  
Wayne Russell ◽  
Nigel Alvares ◽  
Debra Carrobourg ◽  
Graeme King
Keyword(s):  
Relational Databases ◽  
Cost Effective ◽  
Metal Loss ◽  
Final Report ◽  
Integrity Assessment ◽  
Maintenance Program ◽  
Oil Pipelines ◽  
New Methodologies ◽  
Reduced Costs

A strategic combination of integrity software, relational databases, GIS, and GPS technologies reduced costs and increased quality of a comprehensive pipeline integrity assessment and repair program that Greenpipe Industries Ltd. completed recently on three crude oil pipelines—two 6-inch and one 8-inch—for Enbridge Pipelines (Saskatchewan) Inc. Greenpipe analyzed metal loss data from recent in-line inspection logs, calculated real-world coordinates of defects and reference welds, prioritized anomalies for repair taking environmental risks into account, and prepared detailed dig sheets and site maps using PipeCraft™, Greenpipe’s advanced GIS-based pipeline integrity-maintenance software package. GPS technology was used to navigate to dig sites and the accuracy of the GPS approach was compared with traditional chainage methods. Pipelines were purged and all defects were cut out and replaced by new pipe during a two-day shutdown on each pipeline. A comprehensive set of data, including high-accuracy GPS location of anomalies, reference welds, and replacement pipe welds, was collected at each dig site and entered into the PipeCraft relational database. After all repairs were completed, the client was provided with a GIS-based electronic final report, allowing point-and-click access to all data collected in the field, including in-line inspection logs, dig information sheets and as-built drawings. The new methodologies employed on this project resulted in a high quality, comprehensive and cost-effective integrity maintenance program.

Sign in / Sign up

Export Citation Format

Share Document