Development of Sensing Algorithms for Object Tracking and Predictive Safety Evaluation of Autonomous Excavators

This article presents the sensing and safety algorithms for autonomous excavators operating on construction sites. Safety is a key concern for autonomous construction to reduce collisions and machinery damage. Taking this point into consideration, our study deals with LiDAR data processing that allows for object detection, motion tracking/prediction, and track management, as well as safety evaluation in terms of potential collision risk. In the safety algorithm developed in this study, potential collision risks can be evaluated based on information from excavator working areas, predicted states of detected objects, and calculated safety indices. Experiments were performed using a modified mini hydraulic excavator with Velodyne VLP-16 LiDAR. Experimental validations prove that the developed algorithms are capable of tracking objects, predicting their future states, and assessing the degree of collision risks with respect to distance and time. Hence, the proposed algorithms can be applied to diverse autonomous machines for safety enhancement.

Should We Just Let the Machines Do It? The Benefit and Cost of Action Recommendation and Action Implementation Automation

Objective To examine the effects of action recommendation and action implementation automation on performance, workload, situation awareness (SA), detection of automation failure, and return-to-manual performance in a submarine track management task. Background Theory and meta-analytic evidence suggest that with increasing degrees of automation (DOA), operator performance improves and workload decreases, but SA and return-to-manual performance declines. Method Participants monitored the location and heading of contacts in order to classify them, mark their closest point of approach (CPA), and dive when necessary. Participants were assigned either no automation, action recommendation automation, or action implementation automation. An automation failure occurred late in the task, whereby the automation provided incorrect classification advice or implemented incorrect classification actions. Results Compared to no automation, action recommendation automation benefited automated task performance and lowered workload, but cost nonautomated task performance. Action implementation automation resulted in perfect automated task performance (by default) and lowered workload, with no costs to nonautomated task performance, SA, or return-to-manual performance compared to no automation. However, participants provided action implementation automation were less likely to detect the automation failure compared to those provided action recommendations, and made less accurate classifications immediately after the automation failure, compared to those provided no automation. Conclusion Action implementation automation produced the anticipated benefits but also caused poorer automation failure detection. Application While action implementation automation may be effective for some task contexts, system designers should be aware that operators may be less likely to detect automation failures and that performance may suffer until such failures are detected.

Strategic and Organizational Conditions for Success

This chapter examines how a constrained problem and an institutionalized solution enabled the Royal Air Force (RAF) to successfully manage the air battle during the Battle of Britain. The RAF pioneered many concepts that the U.S. Air Force still uses today, including aircraft early warning, identification friend-or-foe, track management, aircraft vectoring, and operational research. The Battle of Britain is also one of the well-documented episodes in military history. Open archives, abundant data, and the electromechanical vintage of information technology make this case an accessible illustration of information practice in action. Britain won the battle because it put together a well-managed solution to the well-constrained problem of air defense. Germany, by contrast, met the inherently harder problem of offensive coercion with a more insular solution. The chapter first describes the historical development of the British air defense system, before looking at the “external problem” that Fighter Command faced during the battle and showing how the interaction produced “managed practice” that improved RAF performance.

Distributed Target Tracking in Challenging Environments Using Multiple Asynchronous Bearing-Only Sensors

In the multiple asynchronous bearing-only (BO) sensors tracking system, there usually exist two main challenges: (1) the presence of clutter measurements and the target misdetection due to imperfect sensing; (2) the out-of-sequence (OOS) arrival of locally transmitted information due to diverse sensor sampling interval or internal processing time or uncertain communication delay. This paper simultaneously addresses the two problems by proposing a novel distributed tracking architecture consisting of the local tracking and central fusion. To get rid of the kinematic state unobservability problem in local tracking for a single BO sensor scenario, we propose a novel local integrated probabilistic data association (LIPDA) method for target measurement state tracking. The proposed approach enables eliminating most of the clutter measurement disturbance with increased target measurement accuracy. In the central tracking, the fusion center uses the proposed distributed IPDA-forward prediction fusion and decorrelation (DIPDA-FPFD) approach to sequentially fuse the OOS information transmitted by each BO sensor. The track management is carried out at local sensor level and also at the fusion center by using the recursively calculated probability of target existence as a track quality measure. The efficiency of the proposed methodology was validated by intensive numerical experiments.

Thoracoscopic Lobectomy for Congenital Pulmonary Airway Malformation: Where Are We in 2019?

Thoracoscopic surgery for congenital pulmonary airway malformation (CPAM) is still a matter of debate and used by approximately 50% of the surgeons in Europe. Several questions need to be addressed about CPAM. The adequate treatment, the surgical approach, and the follow-up are few of them. A review of recent articles published in the literature over the past 5 years is done in trying to respond to these questions. A multidisciplinary team is required to follow these patients since approximately 10 to 15% will develop a chronic lung disease and asthma. In the case of conservative management, computed tomography scan should be perform to monitor the evolution of the CPAM. Minimally invasive surgery should be used whenever possible, although the advantages of pulmonary function tests are not clearly defined, allowing a postoperative fast-track management.