Decision-Making for Automated Vehicles Using a Hierarchical Behavior-Based Arbitration Scheme

Behavior planning and decision-making are some of the biggest challenges for highly automated systems. A fully automated vehicle (AV) is confronted with numerous tactical and strategical choices. Most state-of-the-art AV platforms implement tactical and strategical behavior generation using finite state machines. However, these usually result in poor explainability, maintainability and scalability. Research in robotics has raised many architectures to mitigate these problems, most interestingly behavior-based systems and hybrid derivatives. Inspired by these approaches, we propose a hierarchical behavior-based architecture for tactical and strategical behavior generation in automated driving. It is a generalizing and scalable decision-making framework, utilizing modular behavior blocks to compose more complex behaviors in a bottom-up approach. The system is capable of combining a variety of scenario- and methodology-specific solutions, like POMDPs, RRT* or learning-based behavior, into one understandable and traceable architecture. We extend the hierarchical behavior-based arbitration concept to address scenarios where multiple behavior options are applicable but have no clear priority against each other. Then, we formulate the behavior generation stack for automated driving in urban and highway environments, incorporating parking and emergency behaviors as well. Finally, we illustrate our design in an explanatory evaluation

Progress on a generalized coordinates tensor product finite element 3DPNS algorithm for subsonic

A generalized coordinates form of the penalty finite element algorithm for the 3-dimensional parabolic Navier-Stokes equations for turbulent subsonic flows was derived. This algorithm formulation requires only three distinct hypermatrices and is applicable using any boundary fitted coordinate transformation procedure. The tensor matrix product approximation to the Jacobian of the Newton linear algebra matrix statement was also derived. Tne Newton algorithm was restructured to replace large sparse matrix solution procedures with grid sweeping using alpha-block tridiagonal matrices, where alpha equals the number of dependent variables. Numerical experiments were conducted and the resultant data gives guidance on potentially preferred tensor product constructions for the penalty finite element 3DPNS algorithm

Secure Data Sharing With AdHoc

In the scientific circles, there is pressing need to form temporary and dynamic collaborations to share diverse resources (e.g. data, an access to services, applications or various instruments). Theoretically, the traditional grid technologies respond to this need with the abstraction of a Virtual Organization (VO). In practice its procedures are characterized by latency, administrative overhead and are inconvenient to its users. We would like to propose the Manifesto for Secure Sharing. The main postulate is that users should be able to share data and resources by themselves without any intervention on the system administrator's side. In addition, operating an intuitive interface does not require IT skills. AdHoc is a resource sharing interface designed for users willing to share data or computational resources within seconds and almost effortlessly. The AdHoc application is built on the top of traditional security frameworks, such as the PKI X.509 certificate scheme, Globus GSI, gLite VOMS and Shibboleth. It enables users rapid and secure collaboration

Interactions between Silica Particles in the Presence of Multivalent Coions

Forces between charged silica particles in solutions of multivalent coions are measured with colloidal probe technique based on atomic force microscopy. The concentration of 1:z electrolytes is systematically varied to understand the behavior of electrostatic interactions and double-layer properties in these systems. Although the coions are multivalent the Derjaguin, Landau, Verwey, and Overbeek (DLVO) theory perfectly describes the measured force profiles. The diffuse-layer potentials and regulation properties are extracted from the forces profiles by using the DLVO theory. The dependencies of the diffuse-layer potential and regulation parameter shift to lower concentration with increasing coion valence when plotted as a function of concentration of 1:z salt. Interestingly, these profiles collapse to a master curve if plotted as a function of monovalent counterion concentration

Some remarks on the culture management in Poland : as of year 2013

Tekst stawia proste pytania: o związki kultury z zarządzaniem, a w konsekwencji pytanie o tożsamość zarządzania w kulturze. Pokazuje także, jakie problemy i dylematy towarzyszyły tworzeniu tej dyscypliny akademickiej w Polsce. Wskazuje na realia, w jakich zarządza się w Polsce kulturą, objaśnia sens i konieczność badań w tym obszarze, m.in. po to, by móc wypracować sensowny model polityki kulturalnej.In the text there are a few simple questions: what are the links between culture and management, and what culture management really means. The author also shows problems and dilemmas associated with the process of creating new academic field - culture management - in Poland. He describes realities of the situation, in which culture functions in Poland and explains importance and necessity of academic research in that area, with the intention of creating the base for solid model of cultural policy

PMLB: A Large Benchmark Suite for Machine Learning Evaluation and Comparison

The selection, development, or comparison of machine learning methods in data mining can be a difficult task based on the target problem and goals of a particular study. Numerous publicly available real-world and simulated benchmark datasets have emerged from different sources, but their organization and adoption as standards have been inconsistent. As such, selecting and curating specific benchmarks remains an unnecessary burden on machine learning practitioners and data scientists. The present study introduces an accessible, curated, and developing public benchmark resource to facilitate identification of the strengths and weaknesses of different machine learning methodologies. We compare meta-features among the current set of benchmark datasets in this resource to characterize the diversity of available data. Finally, we apply a number of established machine learning methods to the entire benchmark suite and analyze how datasets and algorithms cluster in terms of performance. This work is an important first step towards understanding the limitations of popular benchmarking suites and developing a resource that connects existing benchmarking standards to more diverse and efficient standards in the future.Comment: 14 pages, 5 figures, submitted for review to JML

City Funders: Case Studies on Philanthropic Engagement in Urban Contexts

That publication has been released by the FFSC (Funders' Forum on Sustainable Cities), a thematic network of the EFC (European Foundation Centre). It is a collection of short profiles presenting the different priorities, entry points and approaches of twenty foundations working in the urban landscape in Europe, North America, Latin America and Asia. Despite the diversity of perspectives, there appears to be some similarities in the overall priorities and challenges that accompany them. This initial overview seeks to highlight the many opportunities for foundations to connect with one another in the urban context to share experiences in order to leverage knowledge and maximise their impact

Common respiratory issues in ambulatory obstetrics.

This article reviews the diagnosis and management of the most common respiratory conditions complicating pregnancy--asthma and influenza. We also review strategies for smoking cessation in pregnancy as, in addition to exacerbating all other pulmonary conditions, smoking is the most modifiable risk factor for poor pregnancy outcome. Moreover, the obstetrician frequently encounters each of these conditions in the ambulatory setting. A thorough knowledge of the normal pregnancy-induced physiological respiratory changes combined with a comprehensive understanding of how to manage these conditions, will provide the obstetrician with the armamentarium needed to optimize health outcomes for mothers and their fetuses