Road‐Centered Map‐Aided Localization for Driverless Cars Using Single‐Frequency GNSS Receivers

Accurate localization with high availability is a key requirement for autonomous vehicles. It remains a major challenge when using automotive sensors such as single‐frequency Global Navigation Satellite System (GNSS) receivers, a lane detection camera, and proprioceptive sensors. This paper describes a method that enables the estimation of stand‐alone single‐frequency GNSS errors by integrating the measurements from a forward‐looking camera matched with lane markings stored in a digital map. It includes a parameter identification method for a shaping model, which is evaluated using experimental data. An algebraic observability study is then conducted to prove that the proposed state vector is fully observable in a road‐oriented frame. This observability property is the basis to develop a road‐centered Extended Kalman filter (EKF) that can maintain the observability of every component of the state vector on any road, whatever its orientation. To accomplish this, the filter needs to handle road changes, which it does using bijective transformations. The filter was implemented and tested intensely on an experimental vehicle for driverless valet parking services. Field results have shown that the performance of the estimation process is better than solutions based on EKF implemented in a fixed working frame. The proposed filter guarantees that the drift along the road direction remains bounded. This is very important when the vehicle navigates autonomously. Furthermore, the road‐centered modeling improves the accuracy, consistency, and robustness of the localization solver.     

Simultaneous automated design of structured QFT controller and prefilter using nonlinear programming

This paper describes a nonlinear programming‐based robust design methodology for controllers and prefilters of a predefined structure for the linear time‐invariant systems involved in the quantitative feedback theory. This controller and prefilter synthesis problem is formulated as a single optimization problem with a given performance optimization objective and constraints enforcing stability and various specifications usually enforced in the quantitative feedback theory. The focus is set on providing constraints expression that can be used in standard nonlinear programming solvers. The nonlinear solver then computes in a single‐step controller and prefilter design parameters that satisfy the prescribed constraints and maximizes the performance optimization objective. The effectiveness of the proposed approach is demonstrated through a variety of difficult design cases like resonant plants, open‐loop unstable plants, and plants with variation in the time delay. Copyright © 2016 John Wiley & Sons, Ltd.     

Modeling contextual security policies

As computer infrastructures become more complex, security models must provide means to handle more flexible and dynamic requirements. In the Organization Based Access Control (OrBAC) model, it is possible to express such requirements using the notion of context. In OrBAC, each security rule (permission, prohibition, obligation or dispensation) only applies in a given context. A context is viewed as an extra condition that must be satisfied to activate a given security rule. In this paper, we present a taxonomy of different types of context and investigate the data the information system must manage in order to deal with these different contexts. We then explain how to model and evaluate them in the OrBAC model.

Clock constraint specification language: specifying clock constraints with UML/MARTE

The Object Management Group (OMG) unified modeling language (UML) profile for modeling and analysis of real-time and embedded systems (MARTE) aims at using the general-purpose modeling language UML in the domain of real-time and embedded (RTE) systems. To achieve this goal, it is absolutely required to introduce inside the mainly untimed UML an unambiguous time structure which MARTE model elements can rely on to build precise models amenable to formal analysis. The MARTE Time model has defined such a structure. We have also defined a non-normative concrete syntax called the clock constraint specification language (CCSL) to demonstrate what can be done based on this structure. This paper gives a brief overview of this syntax and its formal semantics, and shows how existing UML model elements can be used to apply this syntax in a graphical way and benefit from the semantics.     

Continuous planar phospholipid bilayer supported on porous silicon thin film reflector

Reconstituting artificial membranes for in vitro studies of cell barrier mechanisms and properties is of major interest in biology. Here, artificial membranes supported on porous silicon photonic crystal reflectors are prepared and investigated. The materials are of interest for label-free probing of supported membrane events such as protein binding, molecular recognition, and transport. The porous silicon substrates are prepared as multilayered films consisting of a periodically varying porosity, with pore dimensions of a few nanometers in size. Planar phospholipid bilayers are deposited on the topmost surface of the oxidized hydrophilic mesoporous silicon films. Atomic force microscopy provides evidence of continuous bilayer deposition at the surface, and optical measurements indicate that the lipids do not significantly infiltrate the porous region. The presence of the supported bilayer does not obstruct the optical spectrum from the porous silicon layer, suggesting that the composite structures can act as effective optical biosensors.     

Property Testing of Regular Tree Languages

We consider the edit distance with moves on the class of words and the class of ordered trees. We first exhibit a simple tester for the class of regular languages on words and generalize it to the class of ranked and unranked regular trees. We also show that this distance problem is -complete on ordered trees. A preliminary version of this paper appeared in Proceedings of 31st International Colloquium on Automata, Languages and Programming, volume 3142 of Lecture Notes in Computer Science, pages 932–944, Springer, 2005. Work supported by ACI Sécurité Informatique: VERA of the French Ministry of research.     

The removal and degradation of pharmaceutical compounds during membrane bioreactor treatment

Pharmaceutical compounds such as non-steroidal anti-inflammatory drugs (NSAIDs) and antibiotics have been detected in sewage treatment plant (STP) effluents, surface and ground water and even in drinking water all over the world, and therefore have developed as compounds of concern. Membrane bioreactor (MBR) treatment has gained significant popularity as an advanced wastewater treatment technology and might be effective for an advanced removal of these pollutants. This paper evaluates the treatment of wastewater containing three NSAIDs (acetaminophen, ketoprofen and naproxen) and three antibiotics (roxithromycin, sulfamethoxazole and trimethoprim) performed in two MBRs with sludge retention times (SRTs) of 15 (MBR-15) and 30 (MBR-30) days over a period of four weeks. It was observed that NSAIDs were removed with higher efficiencies than the antibiotics for both MBRs, and the MBR-30 presented higher removal efficiencies for all the compounds than obtained by MBR-15. Removal rates ranged from 55% (sulfamethoxazole) up to 100% (acetaminophen, ketoprofen). Besides mineralisation biological transformation products of ketoprofen and naproxen produced by wastewater biocoenosis were identified in both MBR permeates using liquid chromatography coupled with mass spectrometry (LC-MS). The results indicated the importance of investigating the environmental fate of pharmaceuticals and their transformation products reaching the environment.     

On the Hitting Times of Quantum Versus Random Walks

The hitting time of a classical random walk (Markov chain) is the time required to detect the presence of—or equivalently, to find—a marked state. The hitting time of a quantum walk is subtler to define; in particular, it is unknown whether the detection and finding problems have the same time complexity. In this paper we define new Monte Carlo type classical and quantum hitting times, and we prove several relationships among these and the already existing Las Vegas type definitions. In particular, we show that for some marked state the two types of hitting time are of the same order in both the classical and the quantum case. Then, we present new quantum algorithms for the detection and finding problems. The complexities of both algorithms are related to the new, potentially smaller, quantum hitting times. The detection algorithm is based on phase estimation and is particularly simple. The finding algorithm combines a similar phase estimation based procedure with ideas of Tulsi from his recent theorem (Tulsi A.: Phys. Rev. A 78:012310 2008) for the 2D grid. Extending his result, we show that we can find a unique marked element with constant probability and with the same complexity as detection for a large class of quantum walks—the quantum analogue of state-transitive reversible ergodic Markov chains. Further, we prove that for any reversible ergodic Markov chain P, the quantum hitting time of the quantum analogue of P has the same order as the square root of the classical hitting time of P. We also investigate the (im)possibility of achieving a gap greater than quadratic using an alternative quantum walk. In doing so, we define a notion of reversibility for a broad class of quantum walks and show how to derive from any such quantum walk a classical analogue. For the special case of quantum walks built on reflections, we show that the hitting time of the classical analogue is exactly the square of the quantum walk.     

ISS-Lyapunov functions for time-varying hyperbolic systems of balance laws

A family of time-varying hyperbolic systems of balance laws is considered. The partial differential equations of this family can be stabilized by selecting suitable boundary conditions. For the stabilized systems, the classical technique of construction of Lyapunov functions provides a function which is a weak Lyapunov function in some cases, but is not in others. We transform this function through a strictification approach to obtain a time-varying strict Lyapunov function. It allows us to establish asymptotic stability in the general case and a robustness property with respect to additive disturbances of input-to-state stability (ISS) type. Two examples illustrate the results.     

Cognitive conflict in human-automation interactions: a psychophysiological study

The review of literature in sociology and distributed artificial intelligence reveals that the occurrence of conflict is a remarkable precursor to the disruption of multi-agent systems. The study of this concept could be applied to human factors concerns, as man-system conflict appears to provoke perseveration behavior and to degrade attentional abilities with a trend to excessive focus. Once entangled in such conflicts, the human operator will do anything to succeed in his current goal even if it jeopardizes the mission. In order to confirm these findings, an experimental setup, composed of a real unmanned ground vehicle, a ground station is developed. A scenario involving an authority conflict between the participants and the robot is proposed. Analysis of the effects of the conflict on the participants' cognition and arousal is assessed through heart-rate measurement (reflecting stress level) and eye-tracking techniques (index of attentional focus). Our results clearly show that the occurrence of the conflict leads to perseveration behavior and can induce higher heart rate as well as excessive attentional focus. These results are discussed in terms of task commitment issues and increased arousal. Moreover, our results suggest that individual differences may predict susceptibility to perseveration behavior.