The privileged sensing framework: A principled approach to improved human-autonomy integration

ABSTRACT

A primary goal for human-autonomy integration (HAI) is to balance the strengths of human and autonomy in order to achieve performance objectives more efficiently and robustly than either the human or autonomous agents would independently. This paper proposes the Privileged Sensing Framework (PSF) as a novel approach to HAI. This approach is based on the concept of dynamically ‘privileging’ information during the process of integration by dynamically bestowing special rights based on the characteristics of each individual agent, the task context, and the performance goals. The proposed framework is tested through a series of simulation experiments that provide a clear demonstration of increased accuracy and throughput of human-autonomy performance. These proof-of-concept simulations provide initial evidence of the utility of the PSF. Continued development of this approach has the potential to revolutionise capabilities of multi-agent cooperative teams across a broad range of applications.     

Visible light-driven superoxide generation by conjugated polymers for organic synthesis

Nano Research - Benefiting from their unique delocalized electronic structure, conjugated polymer-based semiconductors are widely applied in the fields of organic electronics, sensors, and...     

Effect of martensitic transformation in Ti–15 at %V β-phase particles on lamellar boundary decohesion in γ-TiAl Part II Finite element analysis of crack-bridging phenomenon

The commercial finite element package ABAQUS has been used to analyse the crack bridging process by Ti-15 at%V -phase particles dispersed in -TiAl matrix in the presence of particle–matrix decohesion. Both the particle–matrix decohesion potential and the -phase materials constitutive relations are found to have a major effect on the ductility, fracture toughness and failure mode of the – two-phase material. The interface potential is found to primarily affect the distribution of the normal interface strength ahead of the advancing interfacial crack and the mode (gradual versus sudden) of decohesion. The -phase materials constitutive relations are found to influence the location of nucleation of the interfacial cracks and, in turn, the mode of decohesion. A metastable -phase that can plastically deform at low stress levels by undergoing a stress-assisted martensitic transformation, but experience a high rate of strain hardening is found to give rise to the largest levels of ductility and fracture toughness is the – two-phase material. © 1998 Kluwer Academic Publishers     

NMR study of quaternary superconductor RM2B2C (R = Y,La, Th,and M = Ni,Pd, Pt)

¹⁹⁵Pt-,¹³⁹La- and¹¹B-NMR have been investigated in quaternary RM₂B₂C (R=Y, La, Th and M=Ni, Pd, Pt). The electric quadrupole frequency of¹³⁹La changes more than 5 times in magnitude from M=Ni to Pt, indicating that the hybridization of La-5d and d-electrons of M-element changes largely. The analysis of¹¹B and¹³⁹La spectra shows also the large change of the magnetic anisotropy with R and M element, i.e., _{II c}>_{II ab} in LaNi₂B₂C, but _{II c}>_{II ab} YNi₂B₂C.The data of T₁T and K of¹⁹⁵Pt and¹¹B are consistent with the band effects and with no evidence of strong antiferromagnetic correlation effects.     

Airborne vision‐based collision‐detection system

Machine vision represents a particularly attractive solution for sensing and detecting potential collision‐course targets due to the relatively low cost, size, weight, and power requirements of vision sensors (as opposed to radar and Traffic Alert and Collision Avoidance System). This paper describes the development and evaluation of a real‐time, vision‐based collision‐detection system suitable for fixed‐wing aerial robotics. Using two fixed‐wing unmanned aerial vehicles (UAVs) to recreate various collision‐course scenarios, we were able to capture highly realistic vision (from an onboard camera perspective) of the moments leading up to a collision. This type of image data is extremely scarce and was invaluable in evaluating the detection performance of two candidate target detection approaches. Based on the collected data, our detection approaches were able to detect targets at distances ranging from 400 to about 900 m. These distances (with some assumptions about closing speeds and aircraft trajectories) translate to an advance warning of between 8 and 10 s ahead of impact, which approaches the 12.5‐s response time recommended for human pilots. We overcame the challenge of achieving real‐time computational speeds by exploiting the parallel processing architectures of graphics processing units (GPUs) found on commercial‐off‐the‐shelf graphics devices. Our chosen GPU device suitable for integration onto UAV platforms can be expected to handle real‐time processing of 1,024 × 768 pixel image frames at a rate of approximately 30 Hz. Flight trials using manned Cessna aircraft in which all processing is performed onboard will be conducted in the near future, followed by further experiments with fully autonomous UAV platforms. © 2010 Wiley Periodicals, Inc.     

An improved differential evolution algorithm for vehicle routing problem with simultaneous pickups and deliveries and time windows

The vehicle routing problem with simultaneous pickups and deliveries and time windows (VRP-SPDTW) is the problem of optimally integrating forward (good distribution) and reverse logistics (returning materials) for cost saving and environmental protection. We constructed a general mixed integer programming model of VRP-SPDTW. The model contained some classical vehicle routing problems as special cases. We proposed an improved differential evolution algorithm (IDE) for solving this problem. In the algorithm, we firstly adopted the novel decimal coding to construct an initial population, then used some improved differential evolution operators unlike the existing algorithm, and in mutation operation, we used an integer order criterion based on natural number coding method. We introduced a penalty technical to publish the infeasible solution. In addition, in the crossover operation, we designed a self-adapting crossover probability that varied with iteration. We did some numerical experiments, and the results showed that the proposed method is effective for solving VRP-SPDTW.     

A three phase serpentine micro electrode array for AC electroosmotic flow pumping

A new three-phase electrode array with a serpentine electrode is designed and prototyped using PolyMUMPs process for micro flow pumping. Numerical model of the micropump has been developed using COMSOL Multiphysics™. Experimental testing is conducted and time-averaged flow velocities from testing and simulation agree well. Peak time-averaged flow velocity of 270 μm/s is achieved at 30 Hz using ethanol.     

基于VXI总线的噪声测试系统设计与应用

武器发射时产生的脉冲噪声对人员和仪器会造成很大的危害,因此噪声测试在武器勤务性能考核巾具有重要意义,针对脉冲噪声信号特性,开发了一套基于VXI总线的噪声测试系统;详细介绍了系统硬件结构设计、基于LabWindows/CVI虚拟仪器开发平台的软件设计和系统功能;设计的系统具有存储容量大、采样率高和软件功能强等特点,能够用于各种武器单发或连发射击时的噪声测试,也可以用于武器非行驶状态下的稳态噪声测试;通过在试验中的应用,表明本系统操作简便,工作可靠.