Academic literature on the topic 'Autonomy avoidance'
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Journal articles on the topic "Autonomy avoidance"
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Johnson, H. Durell, Joseph C. LaVoie, Mary C. Spenceri, and Molly A. Mahoney-Wernli. "Peer Conflict Avoidance: Associations with Loneliness, Social Anxiety, and Social Avoidance." Psychological Reports 88, no. 1 (February 2001): 227–35. http://dx.doi.org/10.2466/pr0.2001.88.1.227.
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Failure to resolve peer conflict is associated with children's reports of loneliness, social anxiety, and social avoidance. Although these relationships are well established, researchers have not examined the association between the avoidance of peer conflict and various adjustment characteristics. The current study examined the association between avoidance of conflict and measures of loneliness, social anxiety, and social avoidance for 59 pupils in Grade 4 (31 boys and 28 girls) and 47 in Grade 8 (22 boys and 25 girls). Volunteers indicated that conflict avoidance based on autonomy, e.g., independence issues, and interpersonal issues, e.g., closeness and cohesion, was associated with scores on loneliness for boys and girls, respectively. Conflict avoidance for emotional and physical well-being and fear of punishment was associated with increased reports of loneliness and social anxiety for children in Grade 4.
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Ton, C., Z. Kan, and S. S. Mehta. "Obstacle avoidance control of a human-in-the-loop mobile robot system using harmonic potential fields." Robotica 36, no. 4 (November 16, 2017): 463–83. http://dx.doi.org/10.1017/s0263574717000510.
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SUMMARYThis paper considers applications where a human agent is navigating a semi-autonomous mobile robot in an environment with obstacles. The human input to the robot can be based on a desired navigation objective, which may not be known to the robot. Additionally, the semi-autonomous robot can be programmed to ensure obstacle avoidance as it navigates the environment. A shared control architecture can be used to appropriately fuse the human and the autonomy inputs to obtain a net control input that drives the robot. In this paper, an adaptive, near-continuous control allocation function is included in the shared controller, which continuously varies the control effort exerted by the human and the autonomy based on the position of the robot relative to obstacles. The developed control allocation function facilitates the human to freely navigate the robot when away from obstacles, and it causes the autonomy control input to progressively dominate as the robot approaches obstacles. A harmonic potential field-based non-linear sliding mode controller is developed to obtain the autonomy control input for obstacle avoidance. In addition, a robust feed-forward term is included in the autonomy control input to maintain stability in the presence of adverse human inputs, which can be critical in applications such as to prevent collision or roll-over of smart wheelchairs due to erroneous human inputs. Lyapunov-based stability analysis is presented to guarantee finite-time stability of the developed shared controller, i.e., the autonomy guarantees obstacle avoidance as the human navigates the robot. Experimental results are provided to validate the performance of the developed shared controller.
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Park, Seung Hwan, and Gon Woo Kim. "Implementation of Collision Avoidance Using Modification of the Expanded Guide Circle for Tele-Operated Robots." Applied Mechanics and Materials 736 (March 2015): 218–23. http://dx.doi.org/10.4028/www.scientific.net/amm.736.218.
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Even for a tele-operated robot system, collision avoidance should be performed with some level of autonomy because of the mistake of tele-operators. In this paper, we suggest a simple but efficient method of collision avoidance. This suggestion complements the Expanded Guide Circle algorithm and can be used to give correct moving commands to a robot. Also we implement this method in a complex environment and show the usefulness of our algorithm.
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Haddi, Yassine, and Amina Kharchaf. "Obstacle avoidance behavior of an autonomous mobile robot in a radioactive environment based on fuzzy logic." E3S Web of Conferences 234 (2021): 00044. http://dx.doi.org/10.1051/e3sconf/202123400044.
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Five years after the Fukushima nuclear disaster, many robots have been developed to enter areas that are too radioactive for humans, in the event of a nuclear accident, measuring the level of radioactivity can be difficult and risky. A new detection system has been developed to come to the aid of plant operators and managers in certain emergency situations. While navigating in a radioactive environment and looking for sources.to facilitate this operation and make it safer, we have to assess the autonomy of this system, which is a robot operating in a radioactive environment based and to guarantee autonomy and intelligence for obstacle avoidance behavior, we will use a tool such as Fuzzy Logic (LF). In this article, we present an obstacle avoidance approach using this tool. The approach is validated by a virtual simulation on Matlab Simulink.
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Li, Yun, and Jian Zheng. "Research on Real-Time Obstacle Avoidance Planning for an Unmanned Surface Vessel based on the Grid Cell Mechanism." Journal of Navigation 73, no. 6 (July 3, 2020): 1358–71. http://dx.doi.org/10.1017/s0373463320000338.
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Obstacle avoidance navigation for an unmanned surface vessel is a research focus for ship autonomy in which the real-time requirement in practical application is very serious, and always necessitates a complicated structure model to guarantee real-time performance. This paper proposes the grid cell activation model to reduce the complexity of modelling and to simplify an obstacle avoidance algorithm. Combined with the goal-oriented probability model to design a dynamic positive-loss-rate expectation evaluation function, it produces the proper strategy for obstacle avoidance. Case studies on multi-obstacle layouts and special circumstances are conducted and presented. The results indicate that the grid cell obstacle avoidance algorithm can effectively implement obstacle avoidance planning and ensure real-time requirements. A comparison with the potential field algorithm is performed, which shows good results and verifies the feasibility of the algorithm.
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Mishra, Amardeep. "Autonomous obstacle avoidance maneuvering of thrust-vectored airship with neural network control." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 234, no. 3 (October 9, 2019): 689–708. http://dx.doi.org/10.1177/0954410019879821.
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There has been a renewed interest in recent times in airship technology owing to its potential usage for applications ranging from defense, scientific exploration, advertising to even remote monitoring. For airships to expand operational profile, further enhancement of configurational features and control development for full autonomy are key technologies gaining attention. In this paper, beginning with the mathematical modeling of a thrust-vectored airship, the integrated motion planning and controller development for vehicle autonomy, taking into account various uncertainties, are dealt with. A rapidly exploring random tree-based obstacle avoidance path planning exercise is carried out to chart out a trajectory in the presence of obstacles. Then, a neural network-based sliding mode controller is subsequently designed that learns the unknown equivalent control in sliding mode control framework to track the reference trajectory. Simulation results presented at the end demonstrate the effectiveness of the approach.
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Pavey, Louisa, and Sue Churchill. "Promoting the Avoidance of High-Calorie Snacks: Priming Autonomy Moderates Message Framing Effects." PLoS ONE 9, no. 7 (July 31, 2014): e103892. http://dx.doi.org/10.1371/journal.pone.0103892.
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Guo, Wenxia, and Kelley Main. "The effectiveness of matching sales influence tactics to consumers’ avoidance versus approach shopping motivations." European Journal of Marketing 51, no. 9/10 (September 12, 2017): 1577–96. http://dx.doi.org/10.1108/ejm-05-2016-0278.
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Purpose Adaptive selling can help build positive relationships between salespeople and consumers. The literature shows that consumers respond positively to salespeople under approach but not avoidance motivations. This paper aims to demonstrate a circumstance under which consumers with avoidance motivations can also respond positively, something not previously shown in the literature. Design/methodology/approach This research paper uses three experimental between-subject designs to test hypotheses. Findings The current research identifies appropriate sales influence tactics (e.g. a customer-autonomy-oriented or a loss-avoidance-oriented influence tactic) where consumers with avoidance motivations can also respond to sales agents positively by the evidence of higher purchase intentions. In addition, this research shows that consumers with approach motivations may not always respond positively to salespeople. Further, goal facilitation appraisals of the salespeople serve as a mechanism between consumers’ shopping motivations and their behavioral responses (e.g. purchase intentions). Originality/value First, while the previous literature demonstrates that approach motivations generally lead to more positive effects (Elliot and Trash, 2002), this research indicates that avoidance motivations can also have positive effects, which is a finding that has not been demonstrated in the literature thus far. Second, this research identifies goal facilitation appraisals as one underlying process that explains the interactive effect between matching influence tactics and consumers’ approach/avoidance motivations when shopping. Third, the authors integrate regulatory focus theory by using gain- or loss-avoidance-oriented sales influence tactics to match approach and avoidance motivations.
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FULLER, CHRIS. "Reflexivity, relative autonomy and the embedded individual in economics." Journal of Institutional Economics 9, no. 1 (January 23, 2013): 109–29. http://dx.doi.org/10.1017/s1744137412000239.
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Abstract:This paper is about the mind of the embedded individual in heterodox economics. Beginning from Margaret Archer's analysis of modes of reflexivity and following the respective contributions of Geoff Hodgson and John Davis, the paper seeks to integrate into Archer's approach a place for habitual beliefs and an analysis of the ‘relative autonomy’ of the embedded individual. Archer's identification of modes of reflexivity is endorsed but her avoidance of any dispositional place for habit in the mind is questioned. It is argued that by excluding habits in this way, Archer, unlike Davis, implausibly assumes most individuals have achieved relative autonomy in their group associations. The essay develops an approach to the mind that articulates underlying relationships between habits and internal conversation, potentially enriching Archer's explanation of modes of reflexivity while locating Davis's notion of relative autonomy within that framework. Specific economic implications are then briefly considered.
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Beverley, Eric Lewis. "Old Borderlands." Comparative Studies of South Asia, Africa and the Middle East 40, no. 3 (December 1, 2020): 454–67. http://dx.doi.org/10.1215/1089201x-8747412.
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Abstract Large zones of de facto political autonomy persist even as various state systems have endeavored to fix, rationalize, and secure external and internal borders. These spaces are products of long histories of uneven extension and exercise of state sovereignty in the subcontinent and much of Asia and Africa. Histories and legacies of borderland autonomy have important implications for contemporary sovereign practice in much of the world. This article examines the making, unmaking, and endurance of borderlands around Hyderabad in the eastern Deccan. It describes the region as an “old borderland,” from premodern frontier zone, to sovereign and autonomous state during the era of British imperial dominance, through its mid-twentieth-century reemergence as a site of state avoidance or resistance. Identifying the productive relationship among frictional environments, political sovereignty, and social and cultural dynamics, this article develops frameworks for historicizing borderland autonomy in South Asia and beyond.
Dissertations / Theses on the topic "Autonomy avoidance"
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Yucel, Gizem. "A Reactionary Obstacle Avoidance Algorithm For Autonomous Vehicles." Master's thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12614480/index.pdf.
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This thesis focuses on the development of guidance algorithms in order to avoid a
prescribed obstacle primarily using the Collision Cone Method (CCM). The
Collision Cone Method is a geometric approach to obstacle avoidance, which forms
an avoidance zone around the obstacles for the vehicle to pass the obstacle around
this zone. The method is reactive as it helps to avoid the pop-up obstacles as well as
the known obstacles and local as it passes the obstacles and continue to the
prescribed trajectory. The algorithm is first developed for a 2D (planar) avoidance
in 3D environment and then extended for 3D scenarios. The algorithm is formed for
the optimized CCM as well. The avoidance zone radius and velocity are optimized
using constraint optimization, Lagrange multipliers with Karush-Kuhn-Tucker
conditions and direct experimentation.
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Daltorio, Kathryn A. "Obstacle Navigation Decision-Making: Modeling Insect Behavior for Robot Autonomy." Case Western Reserve University School of Graduate Studies / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=case1365157897.
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Clem, Garrett Stuart. "An Optimized Circulating Vector Field Obstacle Avoidance Guidance for UnmannedAerial Vehicles." Ohio University / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1530874969780028.
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Pratt, Kevin S. "Analysis of VTOL MAV use during rescue and recovery operations following Hurricane Katrina." [Tampa, Fla.] : University of South Florida, 2007. http://purl.fcla.edu/usf/dc/et/SFE0002209.
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Veerla, Veena, and Maanasa Subrahmanyam. "Influence of cultural dimensions on Agile team behavioral characteristics." Thesis, Blekinge Tekniska Högskola, Sektionen för datavetenskap och kommunikation, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-2450.
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Context: Agile methodologies are widely recognized in western countries. From past few years, its practices are being successfully adopted in global settings especially in eastern countries. Across the world, teams are following its values and principles. Are all the teams behaving in the same way? Potential difficulties related to culture arise while implementing agile practices. Due to variance in backgrounds and behaviors, social cliques and issues are likely to be formed between the team mates which become a hurdle. Objectives: The study unravels the list of relationships between the agile team behavioral characteristics and Hofstede cultural dimensions. It also explores whether Indian employees working in an agile environment possess the required behavioral characteristics which are useful for the effective functioning of a team. The other objective of this study reveals the influence of the years of experience of the agile employees on behavioral characteristics. Methods: Data collection processes include a literature review and a web survey. First, in the literature review analysis of the empirical studies from year 1999-2011 was done. The review approach helped in collecting and summarizing the data. The studies were identified from the most reliable and authentic databases that are scientifically and technically peer reviewed such as Engineering village, IEEE Xplore, ACM digital library, Springer Link and Google Scholar. A survey was conducted with 33 practitioners from various multinational organizations in India. Statistical analysis was used to analyze the data. Results: Hofstede’s cultural dimensions had noticeable influence on agile team behavioral characteristics. Although, all the enabler characteristics were not seen in Indian culture, the results clearly show that some of the cultural dimensions are enabling factors to function well in an agile team and some hinder the team effectiveness. The result from the literature review shows the list of relationships between Hofstede cultural dimensions and agile team behavioral characteristics. All team behavioral characteristics were to a certain extent demonstrated by Indian agile employees, which can be known from the survey results. It is also seen from the survey results that, team behavioral characteristics can be demonstrated more effectively by the experienced agile employees. Conclusion: From this study, we have found the relationships between Hofstede cultural dimensions and agile team behavioral characteristics. List of agile team behavioral characteristics which were followed by Indian agile employees were obtained from the survey. We conclude that Indian agile employees were able to demonstrate all the agile team behavior characteristics required for an effective functioning of a team. One more interesting thing which came into our attention, after analyzing the survey was that years of experience of agile employees do have an effect on the employees which influences the demonstration of team behavior characteristics. It was clear that demonstration of these characteristics were not only dependent on individual’s nature but also on the years of experience in agile environment. The absence of relationships which were not found through literature needs to be focused. Hence we conclude that there is a need for conducting even more in-depth surveys and reviews to investigate the unfound relationships.
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Leca, Dimitri. "Navigation autonome d'un robot agricole." Thesis, Toulouse 3, 2021. http://www.theses.fr/2021TOU30036.
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Le travail sur lequel porte cette thèse s'inscrit dans le domaine de la robotique agricole. Il s'agit de développer des stratégies de navigation permettant à un robot mobile d'évoluer et d'intervenir de manière autonome et en toute sécurité dans une exploitation. Ce type d'environnement agricole est fortement évolutif et comporte de nombreux obstacles statiques (bâtiments, zones de stockage, etc.) et dynamiques (voitures, machines agricoles, opérateurs humains, animaux, etc.). La stratégie de navigation proposée doit donc être à la fois réactive et adaptative. Par conséquent, cette thèse se concentre sur la conception de méthodes de navigation référencées capteurs (LiDAR, vision, ...) et d'évitement d'obstacles en environnements statiques mais aussi fortement dynamiques. De par la diversité des environnements et des cas possibles, nous avons souhaité développer des méthodes qui soient les plus génériques possible, pouvant gérer les cas à la fois statiques et dynamiques. Ainsi, nous introduirons d'abord les spirales, qui permettent d'obtenir des trajectoires d'évitement pertinentes et flexibles. Ensuite, nous présenterons notre méthode de navigation et d'évitement d'obstacles, basée sur une paramétrisation dynamique des spirales en fonction de l'évolution de l'environnement. Nous verrons que de par l'aspect générique des spirales, cette méthode peut être aisément adaptée pour fonctionner dans un cadre statique mais aussi dans un cadre dynamique. Pour finir, ces solutions seront validées en simulation, puis portées sur un robot mobile pour des expérimentations en conditions réellesThis thesis explores the field of agricultural robotics. It aims at developing navigation strategies allowing a mobile robot to navigate safely and autonomously inside a farm. This kind of agricultural environment is highly evolutive and includes many static obstacles (buildings, storage areas, etc.) and dynamic obstacles (cars, agricultural machines, human operators, animals, etc.). The proposed navigation strategy must therefore be both reactive and adaptive. Consequently, this thesis focuses on the design of sensor-based navigation methods (LiDAR, vision, ...) and obstacle avoidance techniques in static but also highly dynamic environments. Due to the diversity of environments and possible cases, we have developed methods that are as generic as possible, able to handle both static and dynamic cases. Thus, we will first introduce the spirals, which allow to obtain relevant and flexible avoidance trajectories. Then, we will present our method of navigation and obstacle avoidance, based on a dynamic parametrization of the spirals according to the evolution of the environment. We will show that due to the generic aspect of spirals, this method can be easily adapted to avoid both static and dynamic obstacles. Finally, these solutions will be first validated in simulation, then implemented on a mobile robot for experiments in real conditions
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Ekström, Johan. "Obstacle avoidance for platforms in three-dimensional environments." Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-189320.
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The field of obstacle avoidance is a well-researched area. Despite this, research on obstacle avoidance in three dimensions is surprisingly sparse. For platforms which are able to navigate three-dimensional space, such as multirotor UAVs, such methods will become more common. In this thesis, an obstacle avoidance method, intended for a three-dimensional environment, is presented. First the method reduces the dimensionality of the three-dimensional world into two dimensions by projecting obstacle observations onto a two-dimensional spherical depth map, retaining information on direction and distance to obstacles. Next, the method accounts for the dimensions of the platform by applying a post-processing on the depth map. Finally, knowing the motion model, a look-ahead verification step is taken, using information from the depth map, to ensure that the platform does not collide with any obstacles by not allowing control inputs which leads to collisions. If there are multiple control input candidates after verification that lead to velocity vectors close to a desired velocity vector, a heuristic cost function is used to select one single control input, where the similarity in direction and magnitude of the resulting and desired velocity vector is valued. Evaluation of the method reveals that platforms are able to maintain distances to obstacles. However, more work is suggested in order to improve the reliability of the method and to perform a real world evaluation.Fältet inom kollisionsundvikande är ett välforskat område. Trots detta så är forskning inom kollisionsundvikande metoder i tre dimensioner förvånansvärt magert. För plattformar som kan navigera det tredimensionella rummet, såsom multirotor-baserade drönare kommer sådana metoder att bli mer vanliga. I denna tes presenteras en kollisionsundvikande metod, menad för det tredimensionella rummet. Först reduceras dimensionaliteten av det tredimensionella rummet genom att projicera hinderobservationer på ett tvådimensionellt sfärisk ark i form av en djupkarta som bibehåller information om riktning och avstånd till hinder. Därefter beaktas plattformens dimensioner genom att tillämpa ett efterbehandlingssteg på djupkartan. Till sist, med kunskap om rörelsemodellen, ett verifieringssteg där information från djupkartan används för att försäkra sig om att plattformen inte kolliderar med några hinder genom att inte tillåta kontrollinmatningar som leder till kollisioner. Om det finns flera kontrollinmatningskandidater efter verifikationssteget som leder till hastighetsvektorer nära en önskad hastighetsvektor så används en heuristisk kostnadsfunktion, där likheten i riktning och magnitud av den resulterande vektorn och önskade hastighetsvektorn värderas, för att välja en av dem. Utvärdering av metoden visar att plattformar kan bibehålla avstånd till hinder. Dock föreslås ytterligare arbete för att förbättra tillförlitligheten av metoden samt att utvärdera metoden i den verkliga världen.
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Raab, Raphaelle. "Vers une pédagogie des temps faibles : étude sur les processus d'autonomisation en classe maternelle dans le cadre des espaces-temps intersticiels." Thesis, Lyon 2, 2015. http://www.theses.fr/2015LYO20046/document.
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Notre thèse étudie les conditions favorables à l’autonomisation scolaire des élèves. L’étude empirique est menée en grande section de maternelle. Dans la plupart des situations de formation, les temps « d'autonomie » sont structurellement inévitables puisque le formateur ne peut être présent pour tous à chaque instant. Nous nous intéressons aux temps de classe au cours desquels l’enseignant n’intervient pas directement, soit parce qu’il n’est pas disponible, soit parce qu’il se retire volontairement de la situation. Nous les appelons temps faibles en raison de cette faible présence de l’enseignant : l’élève doit agir en fonction de ses propres forces, sans l’intervention directe du maître pour réguler l’apprentissage et les comportements. Il appert que les élèves n’y sont pas naturellement autonomes : laissées au hasard de capacités acquises hors l’école, les activités dites « en autonomie » contribuent à creuser les écarts entre les élèves face aux savoirs qui leurs sont proposés. L’autonomie ferait partie de ces comportements implicitement attendus et « davantage supposés ou requis par les enseignants que construits dans, avec et par l’école ». Comment penser le processus d’autonomisation scolaire et comment l’opérationnaliser en contexte ordinaire de classe ? Nous cherchons les outils, les leviers, les interactions et les dispositifs qui permettraient aux élèves, – à tous les élèves – de profiter des temps faibles au bénéfice de leurs apprentissages. Les données sont recueillies dans 14 classes sur 117 demi-journées d’observation directe, puis traitées à l’aide de l’analyse par les catégories conceptualisantes (Paillé, 2012). Dans la perspective (socio)constructiviste de l’apprentissage, pour construire un savoir nouveau, l’élève doit rencontrer un obstacle dans la réalisation de la tâche, l’apprentissage résultant du dépassement de celui-ci. Nous relevons des comportements différenciés face à l’obstacle dans les ateliers en autonomie : certains élèves entrent dans des conduites d’évitement, refusant d’affronter cet obstacle, s’en trouvant détournés en amont ou bien le contournant. D’autres, au contraire, entrent dans des conduites de ressources pour le dépasser et construire de nouvelles connaissances. En cours d’étude apparaissent des dynamiques remarquables : certains élèves, d’habitude « évitants », rejoignent ou se maintiennent parfois dans des conduites de ressources. L’étude de ces « exceptions notables » fait émerger les conditions favorables ayant permis leur dynamique particulière en termes d’outils, d’activités, d’interactions et de dispositifs. Ce qui aura pu fonctionner au bénéfice des exceptions notables pourrait être exploité comme levier pédagogique durable au bénéfice de tous. Ces conditions deviennent alors supposées favorables et sont réinvesties dans des dispositifs expérimentaux afin d’observer si elles produisent les effets attendus, dans quelle mesure et selon quelles limites (analyse des dispositifs expérimentaux par une adaptation du modèle systémique d’Engeström, 1987). Il apparait clairement que le processus d’autonomisation, en contexte scolaire de classe hétérogène et nombreuse, s’observe et se construit de façon privilégiée dans les temps faibles de la structuration pédagogique et leur articulation avec les temps forts, notamment les retours collectifs sur ateliers. Une pédagogie des temps faibles supposerait que soit accordé à ceux-ci un véritable statut pédagogique, en tant qu’étape et instrument essentiels au processus d’autonomisation scolaire. Une telle pédagogie supposerait également d’organiser avec soin les interventions de l’enseignant en mode opératoire indirect, au travers d’un dispositif de classe qui le relaie et dont les différentes dispositions (outils, règles, activités, interactions) peuvent « être appropriées » par l’élève comme instruments psychologiques pour agir sur lui-même, en première personne.This dissertation studies favorable conditions to empowerment of pupils. The empirical study was carried out in the final year of kindergarten. In most learning/teaching situations, "autonomy moments" are structurally inevitable since the teacher cannot be systematically available to everyone all the time. Interest is focused on moments during which the teacher does not directly intervene, either because he/she is not available or because he/she voluntarily withdraws from the learning situation. We call these moments "low times" because of the teacher's low presence: during these specific moments, each student responds according to his own strengths without the teacher's direct intervention to regulate both learning and behavior. It appears that students are not naturally autonomous: when left unattended, the so-called "autonomous" learning activities contribute to widening the knowledge gap between students in learning situations. Autonomy would be part of this implicitly expected behavior and is "all the more expected and required from teachers rather than being constructed in, with and by school". How can student empowerment be perceived and operationalized in an ordinary class context? Our goal is to identify tools, levers, interactions and devices which enable students to benefit from "low times" for their own learning. The data are collected in 14 classes in 117 half-days of direct observation. Socio-constructivist approach to learning suggests that in order to construct new knowledge, the student must encounter an obstacle in the course of accomplishing his task. Learning results from overcoming this obstacle. We highlight differentiated behaviors of students when facing obstacles in autonomy classroom workshops: some resort to avoidance strategies and refuse to deal with this obstacle by bypassing or circumventing it. Conversely, others draw on (their own) resources in order to overcome it and construct new knowledge. During the study period, remarkable dynamics appear: some students, with usually an "avoidant" attitude, join or maintain a "drawing on resource conduct". The study of the "notable exceptions" leads to the emergence of the favorable conditions which fostered this particular dynamic in terms of tools, activities, interactions and devices. What would have worked to the benefit of the notable exceptions could be further used as a sustainable and pedagogical lever to the benefit of all students. These conditions become then supposedly favorable and are reinvested in experimental devices in order to see if they produce the expected effects, to which extent and within what limits? Il clearly appears that the empowerment process, in classroom context of a large and heterogeneous class, is developed in a special way in "low times" of pedagogical structuration and their articulation with "strong times", notably collective feedbacks on workshops. A pedagogy of "low times" entails providing the teacher with substantial pedagogical status, which would be a crucial step as well as an instrument in the school empowerment process. Such pedagogy would also entail carefully organizing teacher's intervention in an indirect mode, through a class device which would relay it through its various dispositions (tools, rules, activities, interactions). The student would then internalize these dispositions as psychological instruments in referring to oneself in the first person. This pedagogy would finally entail a redefinition of teacher's role: his/her apparent "absence" from the situation which would paradoxically become, a teaching-learning tool to the benefit of school empowerment
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Dicheva, Svetlana. "Planification de mission pour un système de lancement aéroporté autonome." Phd thesis, Université d'Evry-Val d'Essonne, 2012. http://tel.archives-ouvertes.fr/tel-00878784.
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Cette thèse de doctorat s'inscrit dans le cadre des activités de recherche sur les systèmes de lancement aéroporté autonome. L'originalité du travail est basée sur la planification de mission effectuée par un algorithme de type A*(A-étoile). Cet algorithme a été amélioré pour répondre aux besoins de la mission de largage d'un lanceur. Il effectue la planification du chemin le plus court dans un espace tridimensionnel. Le meilleur chemin est choisi à partir de plusieurs points de passage générés dans la région de mission. Une région peut être une phase du vol ou une partie du profil de vol. Le chemin le plus court est identifié par rapport à la présence de différents obstacles dans l'espace de recherche et son objectif consiste à atteindre un point désiré. Les obstacles ont différentes dimensions et orientations dans l'espace. L'étude de leur comportement est associée aux incertitudes en provenance de l'environnement. Ils peuvent représenter des régions interdites au vol ou des conditions atmosphériques défavorables. L'évolution de ces derniers n'est pas prévisible à l'avance, ce qui impose l'addition d'une fonctionnalité dans l'algorithme. Il est possible de replanifier le chemin à partir d'un point de passage appartenant à un chemin généré en fonction de la position détectée récemment de l'obstacle en déplacement pour arriver dans la configuration finale désirée. Cette détection est possible grâce aux capteurs positionnés sur le premier étage de ce système de lancement représenté par un avion-porteur. Les points de passage que le véhicule aérien doit suivre pour atteindre les objectifs importants ne sont pas choisis d'une manière aléatoire. Leur génération dans l'espace de recherche du chemin est définie en rapport aux limitations dynamiques de l'avion. Les modèles cinématique et dynamique du véhicule aérien qui décrivent son évolution sont aussi développés dans cette thèse. Ces modèles sont étudiés dans un système de coordonnées aérodynamiques. Le référentiel traite la présence du vent qui influe sur le comportement du véhicule. Cela nous permet de considérer d'une manière prédictive plusieurs incertitudes en provenance de l'environnement ou internes pour le véhicule. Les perturbations internes sont provoquées par le largage du lanceur. Le régime transitoire est relié à la perte de masse qui pour certaines missions peut atteindre le tiers de la masse totale du système de lancement. L'algorithme de planification traite une autre prévision - la possibilité que le largage ne soit pas réalisé. Cela peut arriver dans le cas où une tempête s'est installée dans la région de lancement ou il y a plusieurs obstacles dont l'évitement risque de consommer trop de carburant et d'empêcher le retour sur le site d'atterrissage. Les connexions entre les différents points de passage peuvent être souvent brutes et difficiles à réaliser par le véhicule aérien. Pour résoudre cette problématique dans le deuxième module développé sur la génération de trajectoire réalisable, nous utilisons l'approche des polynômes de troisième ordre. Ces polynômes par rapport aux autres techniques diminuent le temps du calcul pour générer une trajectoire réalisable entre deux points de passage consécutifs. Le chemin réalisable est facile à suivre par le système. Pour le suivi de la trajectoire, nous avons introduit dans un troisième module - la commande par mode glissant. Le principe de cette commande consiste le choix de la surface de commutation entre la trajectoire actuelle suivie par le véhicule et la trajectoire désirée déterminée par l'algorithme de planification A-étoile et générée par les polynômes cartésiens de troisième ordre.
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Strömgren, Oliver. "Deep Learning for Autonomous Collision Avoidance." Thesis, Linköpings universitet, Datorseende, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-147693.
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Deep learning has been rapidly growing in recent years obtaining excellent results for many computer vision applications, such as image classification and object detection. One aspect for the increased popularity of deep learning is that it mitigates the need for hand-crafted features. This thesis work investigates deep learning as a methodology to solve the problem of autonomous collision avoidance for a small robotic car. To accomplish this, transfer learning is used with the VGG16 deep network pre-trained on ImageNet dataset. A dataset has been collected and then used to fine-tune and validate the network offline. The deep network has been used with the robotic car in a real-time manner. The robotic car sends images to an external computer, which is used for running the network. The predictions from the network is sent back to the robotic car which takes actions based on those predictions. The results show that deep learning has great potential in solving the collision avoidance problem.
Books on the topic "Autonomy avoidance"
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Veatch, Robert M., Amy Haddad, and E. J. Last. Autonomy. Edited by Robert M. Veatch, Amy Haddad, and E. J. Last. Oxford University Press, 2017. http://dx.doi.org/10.1093/med/9780190277000.003.0007.
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This chapter explores the basic ethical principle of autonomy and the related principles of veracity, fidelity, and avoidance of killing. The pharmacist’s role in recognizing and respecting the individual patient’s moral interests is discussed. The chapter addresses the psychological and moral meanings of the principle of autonomy and delineates the elements of a substantially autonomous decision. Circumstances are discussed when it would be morally justifiable to override the actions of a substantially autonomous person. Cases highlight the issues that arise in determining whether a person is substantially autonomous for health care purposes, those posed by external constraints on autonomy, and those that arise in consideration of overriding patient autonomy.
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Dillon, Michele. Postsecular Catholicism. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780190693008.003.0007.
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This chapter uses Pope Francis’s exhortation Amoris Laetitia (AL), his response to the Synod on the Family, to conclude the book’s analysis. I concentrate on AL because its content and reception allow me to summarize how Francis amplifies the Church’s postsecular relevance. I highlight the tensions at issue, especially over interpretive authority, and how the Church’s “scandal avoidance” dictum requires a bifurcation of Catholics’ lived identities. I also show how despite these tensions, Catholicism holds together the dynamic interplay between doctrinal ideas and secular realities, tradition and change, and hierarchical authority and interpretive autonomy. The chapter closes by noting how postsecular expectations accentuate the ongoing interpretive work of Catholicism that will again be on public display at the Synod on Youth.
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Veatch, Robert M., Amy Haddad, and E. J. Last. Case Studies in Pharmacy Ethics. Oxford University Press, 2017. http://dx.doi.org/10.1093/med/9780190277000.001.0001.
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The third edition of Case Studies in Pharmacy Ethics presents a comprehensive series of cases faced by pharmacists that raise ethical issues, with chapters arranged in a manner that simultaneously presents the topics that would be covered in a course on ethical theory. After an introduction, the book is divided into three parts. The introduction takes up four basic issues in ethical theory: the source, meaning, and justification of ethical claims; the two major ways of determining if acts are morally right; how moral rules apply to specific situations; and what ought to be done in specific cases. Part I deals with conceptual issues. Chapter 1 presents a five-step model the pharmacist can use for ethical problem solving. Chapter 2 addresses identification of value judgments in pharmacy and separation of ethical from nonethical value judgments. Chapter 3 looks at where the pharmacist should turn to find the source of ethical judgments. Part II presents cases organized around the major principles of ethics: beneficence and nonmaleficence, justice and the allocation of resources, autonomy, veracity (dealing honestly with patients), fidelity (including confidentiality), and avoidance of killing. Part III presents cases organized around topics that present ethical controversy: abortion, sterilization, and contraception; genetics and birth technologies; and mental health and behavior control. The remaining chapters cover drug formularies and drug distribution systems; health insurance, health system planning, and rationing; pharmaceutical research; consent to drug therapies; and terminally ill patients. The book includes links to professional codes of ethics and a glossary.
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Dunsmoor, Joseph E., and Rony Paz. Generalization of Learned Fear. Edited by Israel Liberzon and Kerry J. Ressler. Oxford University Press, 2016. http://dx.doi.org/10.1093/med/9780190215422.003.0004.
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Autonomic hyperarousal and avoidance in post-traumatic stress disorder (PTSD) can be triggered by a host of stimuli or situations that bear some similarity or association to the trauma event. As these triggers are often encountered in safe environments removed from the original trauma, this overgeneralization of fear and anxiety is a burden that can interfere with daily life. Recent efforts to understand the neurobiology of PTSD have relied on laboratory models of Pavlovian fear conditioning and extinction. This chapter reviews studies of fear generalization in animals and humans, which provide a valuable model to conceptualize the excessive fear generalization characteristic of PTSD.
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Pace-Schott, Edward F., and Samuel Gazecki. The Role of Stress in the Etiology of PTSD. Edited by Frederick J. Stoddard, David M. Benedek, Mohammed R. Milad, and Robert J. Ursano. Oxford University Press, 2018. http://dx.doi.org/10.1093/med/9780190457136.003.0012.
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This chapter reviews the biological features of stress and their correlation to symptoms of posttraumatic stress disorder (PTSD). Over the past 15 years, advances in understanding the neurobiology of stress and anxiety have revealed underlying neural abnormalities that might help explain why posttraumatic symptoms—intrusive memories or nightmares, avoidance of situations or stimuli associated with the event, persistent negativity of mood and cognition, and hyperarousal—persist in patients with PTSD. This chapter focuses on research that has discovered how abnormal hypothalamic-pituitary-adrenal axis activity, abnormalities of the catecholamingergic/autonomic system, and atypical physiologic and neural circuit responses during fear extinction recall may be important biological factors in the etiology and maintenance of PTSD symptoms.
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Carter, C. Sue, Inbal Ben-Ami Bartal, and Eric C. Porges. The Roots of Compassion. Edited by Emma M. Seppälä, Emiliana Simon-Thomas, Stephanie L. Brown, Monica C. Worline, C. Daryl Cameron, and James R. Doty. Oxford University Press, 2017. http://dx.doi.org/10.1093/oxfordhb/9780190464684.013.14.
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Compassion for others and social support have survival value and health benefits. Although compassion is sometimes considered uniquely human, critical components of compassion have been described in nonhuman mammals. Studies originally conducted in social mammals and now in humans have implicated neuropeptide hormones, especially oxytocin, in social cognition, a sense of safety, and the capacity of sociality to permit compassionate responses. In contrast, the related peptide vasopressin and its receptor may be necessary for forming selective relationships and for the apparently paradoxical effects of oxytocin, which can include increases in fear and avoidance. Oxytocin and vasopressin may contribute to sex differences in compassion. Furthermore, among the processes through which oxytocin and vasopressin influence behavior and health are complex effects on the autonomic nervous system. Knowledge of the mechanisms underlying the benefits of compassion offers new insights into the healing power of positive social behaviors and social support.
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Espinel, Zelde, and Jon A. Shaw. PTSD in Children. Edited by Charles B. Nemeroff and Charles R. Marmar. Oxford University Press, 2018. http://dx.doi.org/10.1093/med/9780190259440.003.0012.
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This chapter reviews the psychobiological effects on children and adolescents upon exposure to a traumatic happening where there is a real or imaginary threat of bodily harm or death to the self and/or others. Morbidity may involve the classic symptoms associated with post-traumatic stress disorder such as a readiness to re-experience the psychological and physiological effects of trauma exposure, autonomic arousal, somatic ills and subsequent avoidant behavior as well as a host of other psychological morbidities such as depression, mood dysregulation and other internalizing and externalizing symptoms. Multimodal treatment approaches implementing family and social supports, psychoeducation, and cognitive behavioral techniques have the strongest evidence base. Psychopharmacologic interventions are not generally used, but may be necessary as an adjunct to other interventions for children with severe reactions or coexisting psychiatric conditions.
Book chapters on the topic "Autonomy avoidance"
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Cui, Yong, Hao Che, Constantino Lagoa, and ZhiMei Zheng. "Autonomic Interference Avoidance with Extended Shortest Path Algorithm." In Lecture Notes in Computer Science, 57–66. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/11839569_6.
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Zgheib, Philippe W. "Cooperative Entrepreneurship in the Middle East." In Entrepreneurship and Business Innovation in the Middle East, 21–36. IGI Global, 2017. http://dx.doi.org/10.4018/978-1-5225-2066-5.ch002.
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Socio-cultural characteristics as defined by Hofstede lay out the basis for understanding entrepreneurial characteristics within a given society. Masculinity, collectivism, and uncertainty avoidance are related to competitive behavior, then cooperative versus competitive dilemmas are analyzed in the cultural setting of Middle Eastern entrepreneurial activity. The purpose is to prove that a relationship exists between culture, and entrepreneurial attitudes. Among Middle Eastern countries, Lebanon is found to go against generally acceptable relationships between cooperation and entrepreneurial autonomy. Furthermore, risk avoidance in Lebanon presents a major discrepancy factor with entrepreneurial culture in general.
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Alonso, Fernando, José Fuertes, Ángel González, and Loïc Martínez. "Blind User Interfacing." In Handbook of Research on Personal Autonomy Technologies and Disability Informatics, 205–23. IGI Global, 2011. http://dx.doi.org/10.4018/978-1-60566-206-0.ch013.
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There are specific usability requirements for developing dual interfaces, that is, graphical user interfaces that are also adapted for blind users. These include task adequacy, dimensional trade-off, behavior equivalence, semantic loss avoidance and device-independence. Consequently, the development of human-computer interfaces based on task, domain, dialog, presentation, platform and user models has to be modified to take into account these requirements. This paper presents the requirements for blind user interfacing, the changes to be made to the human-computer interface models and a framework that improves the development of dual user interfaces. The framework includes a set of guidelines for interface design, a toolkit for the low effort implementation of dual user interfaces, and a programming library for the inclusion of speech and Braille in applications. A case study of the development of one such dual interface application is also presented.
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Margulies, Peter. "The Other Side of Autonomous Weapons." In The Impact of Emerging Technologies on the Law of Armed Conflict, 147–74. Oxford University Press, 2019. http://dx.doi.org/10.1093/oso/9780190915322.003.0006.
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The role of autonomy and artificial intelligence (AI) in armed conflict has sparked heated debate. The resulting controversy has obscured the benefits of autonomy and AI for compliance with international humanitarian law (IHL). Compliance with IHL often hinges on situational awareness: information about a possible target's behavior, nearby protected persons and objects, and conditions that might compromise the planner's own perception or judgment. This chapter argues that AI can assist in developing situational awareness technology (SAT) that will make target selection and collateral damage estimation more accurate, thereby reducing harm to civilians. SAT complements familiar precautionary measures such as taking additional time and consulting with more senior officers. These familiar precautions are subject to three limiting factors: contingency, imperfect information, and confirmation bias. This chapter breaks down SAT into three roles. Gatekeeper SAT ensures that operators have the information they need. In each of the three contexts, SAT can help fulfill IHL's mandate of “constant care” in the avoidance of harm to civilian persons and objects.
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Stallabrass, Julian. "4. Uses and prices of art." In Contemporary Art: A Very Short Introduction, 83–111. Oxford University Press, 2020. http://dx.doi.org/10.1093/actrade/9780198826620.003.0004.
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‘Uses and prices of art’ details how, since the early 2000s, strong modernizing forces in the contemporary art market brought money into clear view and unabashed discussion. The prices of art and the forces that threaten art’s autonomy are all part of the story. These include the modernization of the art market, and the competing demands, promulgated by the state and business, that art should be put to use. Corporate art collecting has had a massive impact on the art world and this has been driven by the growing number of the super-rich who buy contemporary art. Ultimately, art has become a standard investment, part of the portfolio of the super-rich, used to spread risk and engage in tax avoidance.
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Montgomery, Erwin B. "A Calling to Be Better than Ourselves." In Medical Reasoning, 222–26. Oxford University Press, 2018. http://dx.doi.org/10.1093/med/9780190912925.003.0019.
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It is difficult to name a profession with great authority with so little accountability compared to physicians who have finished supervised training. US Supreme Court justices have lifetime appointments and removal from office is exceedingly rare, nevertheless they are always under the public eye. Analyses demonstrate that the threat of malpractice is a poor tool at best to enforcing best practices. Attempts to establish peer review when used rarely address issues of medical reasoning. Furthermore, the physician shortage often leads to perhaps excessive tolerance for physicians’ actions. Accountability is a clinician’s ethical responsibility by virtue of the ethical principles of respect for autonomy, obligation to beneficence, avoidance of maleficence, and justice. These principles underlie the informed consent that is the basis of the clinician–patient relationship. In the end, it is only the personal commitment of the clinician to the patient that best guarantees that both will be served well.
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Shaw, Dorothy, and Nicole Todd. "Drivers and Dilemmas of Female Genital Cosmetic Surgery." In Ethical Issues in Women's Healthcare, edited by Lori d’Agincourt-Canning and Carolyn Ells, 87–106. Oxford University Press, 2019. http://dx.doi.org/10.1093/med/9780190851361.003.0005.
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Female genital cosmetic surgery includes many procedures undertaken at the request of the woman and is the fastest-growing area of cosmetic surgery, despite calls for avoidance or extreme caution from professional organizations responsible for women’s health. Low genital self-image is presumed to drive requests, but root causes have not been studied. The vast majority of these surgeries are not indicated medically, have unknown long-term effects, and are being performed in a private-pay environment in a context of significant ethical concerns regarding informed consent, autonomy and beneficence, and conflict of interest. This chapter explores normal physiologic development of female genitalia as it pertains to knowledge of what is “normal,” self-image and the drivers of genital self-image, concerns about specific procedures, and statements of professional organizations. Ethical tensions and dilemmas for clinicians highlight physicians’ ethical responsibility to provide accurate information about potential harms and benefits of these procedures.
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Biondi, Karina. "The Politics of Transcendence." In Sharing This Walk, edited by John F. Collins. University of North Carolina Press, 2016. http://dx.doi.org/10.5149/northcarolina/9781469623405.003.0005.
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The fragile consistency generated by the politics described in chapter 3 gains stability when it takes on a transcendent form that is both the product and the producer of the immanence that permeates it. Hence, the ways that “de-individualizing” processes operate in the materialization of a power that gains autonomy from and superiority over its producers are the subject of chapter 4. This chapter makes clear the efficacy and strength of a force field called the First Command of Capital (Primeiro Comando da Capital – PCC) by offering an analysis of territorializing processes that take place alongside the phenomenon of de-individualization. Most importantly, this chapter seeks to describe the construction of a localized form of transcendence, or the establishment of an imaginative figure whose perplexing concreteness avoids ultimate transcendence by working as a machine that seeks liberty and resists all subjectification in its avoidance of the constitution of power as put forth by the state.
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Braun, Alexandra. "Forced Heirship in Italy." In Comparative Succession Law, 108–38. Oxford University Press, 2020. http://dx.doi.org/10.1093/oso/9780198850397.003.0005.
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Civil law systems do not generally grant testamentary freedom without limitations. Often, the most significant constraints on the freedom to dispose of assets on death derive from legislative provisions that protect the interests of close family members by way of a forced share, even against the wishes of the deceased. These restrictions can be more or less extensive. In the case of Italy, they are significant, both in terms of how little the testator can sometimes freely dispose of, whether on death or during her lifetime, and in terms of the limited degree of autonomy with which she can modify or reduce the forced share in the estate and enter into agreements with those entitled to a forced share. This chapter provides an historical overview of forced heirship in Italy and examines its main features as well as the mechanisms that are in place to protect forced shares. It evaluates the various proposals to reform forced heirship, including proposals to abolish forced heirship altogether, none of which have been implemented. It argues that Italian law in this area is in an unsatisfactory state, for not only do forced heirship provisions impinge on a person’s freedom of testation and her freedom to make gratuitous transfers during her lifetime, they also affect the interests of donees and other third parties, ultimately hampering the free movement of goods. What is more, the provisions that are in place, including those on the calculation of the forced share and on anti-avoidance, are of considerable complexity. A reform of this area of law is therefore highly desirable.
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Hanson, Robin. "Society." In The Age of Em. Oxford University Press, 2016. http://dx.doi.org/10.1093/oso/9780198754626.003.0035.
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How might em era cultures differ from prior era cultures? Today, we can identify many standard dimensions along which cultures around the world vary ( Hofstede et al. 2010 ; Gorodnichenko and Roland 2011 ; Minkov 2013 ). For some of these standard dimensions, the world has moved in a relatively consistent direction during the industrial era, and we have good reasons to expect this direction to be more productive in a modern economy. Because of this, we have good reasons to expect that a competitive em economy will continue to select for these cultural features. For example, we should expect more industriousness relative to indulgence, a work relative to a leisure orientation, time orientations that are long term relative to short term and that are tied to clocks instead of relationships, low instead of high context attitudes toward rules and communication, and a loose relative to tight attitude on interpreting social norms. For other standard cultural dimensions, productivity considerations don’t as clearly suggest which direction an em world favors. These dimensions include degree of avoidance of risk and uncertainty, tolerance of inequality, individual or group identity, cooperative or competitive emphasis, and high or low emotional expressiveness. Today, about 70% of the variation in values across nations is captured in just two key factors ( Inglehart and Welzel 2010 ). These two factors also capture much of the variation in individual values ( Schwartz et al. 2012 ). One factor varies primarily between rich and poor nations: increasing wealth seems to cause more individualism, universalism, egalitarianism, autonomy, and self-expression. These subfactors seem to be more a result than a cause of wealth. With increasing wealth, our values have moved away from conformity to traditional “conservative” farmer-like values, and toward more “liberal” forager-like values (Hanson 2010b; Hofstede et al. 2010). Poor nations tend more to value respecting parents and authority, believing in good and evil, and wanting to protect local jobs. Rich nations tend more to value trust and imagination, and acceptance of divorce and homosexuality.
Conference papers on the topic "Autonomy avoidance"
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Pebody, M., and S. McPhail. "Autonomy and collision avoidance (a systems perspective)." In UKACC Control 2006 Mini Symposia. IEE, 2006. http://dx.doi.org/10.1049/ic:20060270.
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Rock, Dennis. "Agent autonomy adjustment for Mid-air Collision Avoidance Automation." In AIAA Guidance, Navigation, and Control Conference and Exhibit. Reston, Virigina: American Institute of Aeronautics and Astronautics, 2000. http://dx.doi.org/10.2514/6.2000-4480.
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Ellis, Ruel, Gerardo Fernandez-Lopez, and Gerard Pounder. "VALIDATION OF A SIMULATED ENVIRONMENT DEVELOPED FOR VALIDATING CFS AUTONOM." In International Conference on Emerging Trends in Engineering & Technology (IConETech-2020). Faculty of Engineering, The University of the West Indies, St. Augustine, 2020. http://dx.doi.org/10.47412/ebsy1245.
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This paper analyses results from experiments performed using a previously-described, simulated environment that was developed for validation of Cognitive Function Synthesis, or CFS, Autonomy. Navigation performance of the Pioneer robot platform used the following metrics: Average Cycle Time per simulation run; Average Wall Contact per cycle; and Average Shock Treatment Activation per simulation run. Two ultrasound, or US, configurations were used while the robot navigated in either the ‘preconfigured-reflexes only’ mode or the ‘Braitenberg Obstacle Avoidance’ mode. Results from the “16 sensor” US configuration was generally found to be significantly different from that of the “8 sensor” configuration, independently of obstacle avoidance considerations. Robot performance, when subject to the Braitenberg Obstacle Avoidance algorithm, was also found to be significantly different from ‘preconfigured-reflexes only’ performance, regardless of US configuration. The difference in Shock Treatment and the Average Wall Contact, observed between the “16 sensor” US setting and the “8 sensor” configuration for the ‘Braitenberg Obstacle Avoidance’, are likely to be due to the coefficient values adopted for the rear US sensors together with robot position at experiment start. The use of this environment to enable statistical analysis of results, to determine significant difference in obstacle avoidance performance, validates its usefulness as a tool for CFS Autonomy validation.
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Raman, Adhiti T., Venkat N. Krovi, and Matthias J. A. Schmid. "Empowering Graduate Engineering Students With Proficiency in Autonomy." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-86316.
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A new class of distributed, autonomous systems is emerging, capable of exploiting multimodal distributed and networked spatial and temporal data (at significantly larger scales). A renaissance autonomy engineer requires proficiency in both traditional engineering concepts as well as a systems engineering skillset for implementing the ensuing complex systems. In this paper, we describe goals, development and first offering of a scaffolded course: “AuE 893 Autonomy: Science and Systems” to begin addressing this goal. Geared towards graduate engineering students, with limited prior exposure, the course complements the concepts from traditional courses (on mobile-robotics) with experiential hands-on system-integration efforts (building on the F1tenth.org kits). The staged course structure initially builds upon open-source Robotics Operating System (ROS) tutorials on simulated systems (Gazebo/RViz) with networked communication; Hardware-in-the-loop realization (with a Turtlebot platform) then aids the exploration (and reinforcement) of autonomy concepts. The course culminates in a final-project comprising performance testing with student-team integrated scaled Autonomous Remote Control cars (based on the F1tenth.org parts-list). All three student teams were successful in navigating around a closed racecourse at speeds of 10–15 miles per hour, using Simultaneous Localization and Mapping (SLAM) for situational awareness and obstacle-avoidance. We conclude with discussion of lessons-learnt and opportunities for future improvement.
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Perera, Lokukaluge P. "Autonomous Ship Navigation Under Deep Learning and the Challenges in COLREGs." In ASME 2018 37th International Conference on Ocean, Offshore and Arctic Engineering. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/omae2018-77672.
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A general framework to support the navigation side of autonomous ships is discussed in this study. That consists of various maritime technologies to achieve the required level of ocean autonomy. Decision-making processes in autonomous vessels will play an important role under such ocean autonomy, therefore the same technologies should consist of adequate system intelligence. Each onboard application in autonomous vessels may require localized decision-making modules, therefore that will introduce a distributed intelligence type strategy. Hence, future ships will be agent-based systems with distributed intelligence throughout vessels. The main core of this agent should consist of deep learning type technology that has presented promising results in other transportation systems, i.e. self-driving cars. Deep learning can capture helmsman behavior, therefore that type system intelligence can be used to navigate autonomous vessels. Furthermore, an additional decision support layer should also be developed to facilitate deep learning type technology including situation awareness and collision avoidance. Ship collision avoidance is regulated by the Convention on the International Regulations for Preventing Collisions at Sea, 1972 (COLREGs) under open sea areas. Hence, a general overview of the COLREGs and its implementation challenges, i.e. regulatory failures and violations, under autonomous ships are also discussed with the possible solutions as the main contribution of this study. Furthermore, additional considerations, i.e. performance standards with the applicable limits of liability, terms, expectations and conditions, towards evaluating ship behavior as an agent-based system on collision avoidance situations are also illustrated in this study.
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Noel, A., K. Shreyanka, K. G. S. Kumar, B. M. Shameem, and B. Akshar. "Autonomous Ship Navigation Methods: A Review." In International Conference on Marine Engineering and Technology Oman. London: IMarEST, 2019. http://dx.doi.org/10.24868/icmet.oman.2019.028.
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Autonomous navigation is achieved by training or programming the ship with the stored data about the vessel behavior in various sailing environment. The autonomous behaviour relies on intelligent analytics based on machine learning algorithms. As a major advance in machine learning, the deep learning approach is becoming a powerful technique for autonomy. The deep learning methodologies are applied in various fields in the maritime industry such as detecting anomalies, ship classification, collision avoidance, risk detection of cyber attacks, navigation in ports and so on. The present paper reviews on various methods available in the literature for vessel autonomy and their applications in ship navigation. The focus of the work is to illustrate the advantages of deep learning approach over the machine learning and other traditional methods.
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Kadavasal, Muthukkumar S., Abhishek Seth, and James H. Oliver. "Virtual Reality Based Multi-Modal Teleoperation Using Mixed Autonomy." In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-49144.
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A multi modal teleoperation interface is introduced featuring an integrated virtual reality based simulation augmented by sensors and image processing capabilities on-board the remotely operated vehicle. The proposed virtual reality interface fuses an existing VR model with live video feed and prediction states, thereby creating a multi modal control interface. Virtual reality addresses the typical limitations of video-based teleoperation caused by signal lag and limited field of view thereby allowing the operator to navigate in a continuous fashion. The vehicle incorporates an on-board computer and a stereo vision system to facilitate obstacle detection. A vehicle adaptation system with a priori risk maps and real state tracking system enables temporary autonomous operation of the vehicle for local navigation around obstacles and automatic re-establishment of the vehicle’s teleoperated state. As both the vehicle and the operator share absolute autonomy in stages, the operation is referred to as mixed autonomous. Finally, the system provides real time update of the virtual environment based on anomalies encountered by the vehicle. The system effectively balances the autonomy between human and on board vehicle intelligence. The stereo vision based obstacle avoidance system is initially implemented on video based teleoperation architecture and experimental results are presented. The VR based multi modal teleoperation interface is expected to be more adaptable and intuitive when compared to other interfaces.
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Sungra, Anshul, and Brian Fabien. "Evaluation of Control Algorithms on Mobile Robots for Collision Avoidance." In ASME 2020 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/imece2020-23500.
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Abstract This paper describes the implementation of various algorithms to control the distance between a lead vehicle and a following (ego) vehicle. The ego robot equipped with a monocular camera and a rotating laser sensor (LDS). The monocular camera used for object detection using the Aggregate Channel Features (ACF) detection algorithm. The width of the bounding box generated by the detection algorithm had used to determine the distance between the lead and the following vehicles. Since this research focused on longitudinal autonomy, the data from the rotating laser sensor downsampled from 360 points to 30 points. These sampled points covered the front view of the vehicle. All data points transformed into a planar world coordinate (two-dimensional plane). The outputs of the camera and laser sensor (LDS) were fused to obtain accurate distance measurements for the lead vehicle. Sensor calibration had achieved by comparing sensor data with the ground truth values. Kalman Filter was used to implementing sensor fusion by combining perception data from the monocular camera and LDS for accurate position and velocity estimation. This calibration provided information about the sensor noise and deviation of sensor data from its ground truth values. These values helped to determine the error covariance matrixes of the Kalman filter. For implementation, the Robot Operating System (ROS)-MATLAB platform used to communicate between robot and host Personal Computer (PC). The experiments evaluated the performance of Proportional Control (P), Proportional-Integral Control (PI), and Model Predictive Control (MPC) in maintaining a minimum distance between the vehicles. For the MPC implementation in MATLAB, Model Predictive Control Quadratic Programming (MPCQP) solver was used to get the optimal solution for control output. The results show that the MPC yields faster response times when compared to P control and PI control. These algorithms evaluated during constant velocity and constant acceleration of the lead vehicle. The steady-state errors of P and PI controllers were around 0.1 meters (m) in both scenarios and 0 to 0.2m for constant velocity and 0 to 0.15m for ramp velocity, respectively. And for MPC, steady-state error varied from −0.05m to 0.05m in both the scenarios. This range in steady-state error was due to varying speed of the ego vehicle with time to maintain the minimum relative distance between the robots, and there was a communication delay in the system that also affected the behavior of the controllers. The MPC was more sensitive to communication delays. However, the effect of this communication delay was negligible to P and PI controllers. This sensitivity resulted in different velocity profiles for the ego vehicle in MPC and P or PI controllers.
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Bozkaya, Gülferah. "The Role of Social Protection Expenditure in the Fight against Poverty." In International Conference on Eurasian Economies. Eurasian Economists Association, 2014. http://dx.doi.org/10.36880/c05.00990.
Full textAbstract:
The concept gradually accumulate wealth in the world and intensifies poverty and insecurity are increasing to the same extent. When we look at the past, present and edit the markets cannot self-cleaning, as they cannot, by themselves can be considered as social justice has been seen cannot produce. Social justice-seeking different genders, groups and generations ensures the promotion of equality between the values. The realization of social justice on a global scale before everything redistribution of income from the rich to the poor is mandatory. Redistributing income in various forms of social protection social justice, provide more in several sizes. Avoidance of poverty by helping individuals develop their individual autonomy, dignity, protects and supports integration with the community. Whatever the economic power and productivity of individuals worthy of human dignity to have a minimum standard of social life provides guaranteed by the state. Spread evenly across society for education and health facilities and offers high standards. Social protection expenditure used in the creation of the European Union using ESSPROS method a methodology that has been guiding international social protection expenditures to produce an international comparison also provides the opportunity to do. In the light of current international developments in the field of social policy, social protection expenditure in Turkey will be evaluated in a comparative perspective.
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Zhao, Yu, Jifeng Guo, and Hongxing Zheng. "An Autonomus Obstacle Avoidance Method for Finite-thrust Spacecraft." In 2019 IEEE International Conference on Unmanned Systems (ICUS). IEEE, 2019. http://dx.doi.org/10.1109/icus48101.2019.8995945.
Full textReports on the topic "Autonomy avoidance"
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December 2019 issue – The Bridge. ACAMH, November 2019. http://dx.doi.org/10.13056/acamh.9715.
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Summaries include; if parental consanguinity predicts the severity of Autistic symptoms; study the transmission of intergenerational anxiety in families; systematic review into the effectiveness of available interventions to treat PTSD; the efficacy of teacher assessments vs exams to assess performance in UK schools; relationship between intolerance of uncertainty and extreme demand avoidance in young people with Autism; and how fluctuations in external environmental noise affect the developing Autonomic Nervous System in babies.