Robot navigation in dense crowds : statistical models and experimental studies of human robot cooperation

This thesis explores the problem of mobile robot navigation in dense human crowds. We begin by considering a fundamental impediment to classical motion planning algorithms called the freezing robot problem: once the environment surpasses a certain level of complexity, the planner decides that all forward paths are unsafe, and the robot freezes in place (or performs unnecessary maneuvers) to avoid collisions. Since a feasible path typically exists, this behavior is suboptimal. Existing approaches have focused on reducing predictive uncertainty by employing higher fidelity individual dynamics models or heuristically limiting the individual predictive covariance to prevent overcautious navigation. We demonstrate that both the individual prediction and the individual predictive uncertainty have little to do with this undesirable navigation behavior. Additionally, we provide evidence that dynamic agents are able to navigate in dense crowds by engaging in joint collision avoidance, cooperatively making room to create feasible trajectories. We accordingly develop interacting Gaussian processes, a prediction density that captures cooperative collision avoidance, and a "multiple goal" extension that models the goal driven nature of human decision making. Navigation naturally emerges as a statistic of this distribution.

Most importantly, we empirically validate our models in the Chandler dining hall at Caltech during peak hours, and in the process, carry out the first extensive quantitative study of robot navigation in dense human crowds (collecting data on 488 runs). The multiple goal interacting Gaussian processes algorithm performs comparably with human teleoperators in crowd densities nearing 1 person/m², while a state of the art noncooperative planner exhibits unsafe behavior more than 3 times as often as the multiple goal extension, and twice as often as the basic interacting Gaussian process approach. Furthermore, a reactive planner based on the widely used dynamic window approach proves insufficient for crowd densities above 0.55 people/m². We also show that our noncooperative planner or our reactive planner capture the salient characteristics of nearly any dynamic navigation algorithm. For inclusive validation purposes, we show that either our non-interacting planner or our reactive planner captures the salient characteristics of nearly any existing dynamic navigation algorithm. Based on these experimental results and theoretical observations, we conclude that a cooperation model is critical for safe and efficient robot navigation in dense human crowds.

Finally, we produce a large database of ground truth pedestrian crowd data. We make this ground truth database publicly available for further scientific study of crowd prediction models, learning from demonstration algorithms, and human robot interaction models in general.

New applications that come from extending seismic networks into buildings

This thesis describes engineering applications that come from extending seismic networks into building structures. The proposed applications will benefit the data from the newly developed crowd-sourced seismic networks which are composed of low-cost accelerometers. An overview of the Community Seismic Network and the earthquake detection method are addressed. In the structural array components of crowd-sourced seismic networks, there may be instances in which a single seismometer is the only data source that is available from a building. A simple prismatic Timoshenko beam model with soil-structure interaction (SSI) is developed to approximate mode shapes of buildings using natural frequency ratios. A closed form solution with complete vibration modes is derived. In addition, a new method to rapidly estimate total displacement response of a building based on limited observational data, in some cases from a single seismometer, is presented. The total response of a building is modeled by the combination of the initial vibrating motion due to an upward traveling wave, and the subsequent motion as the low-frequency resonant mode response. Furthermore, the expected shaking intensities in tall buildings will be significantly different from that on the ground during earthquakes. Examples are included to estimate the characteristics of shaking that can be expected in mid-rise to high-rise buildings. Development of engineering applications (e.g., human comfort prediction and automated elevator control) for earthquake early warning system using probabilistic framework and statistical learning technique is addressed.

A mercantilização na saúde e a hegemonia do capital financeiro

A presente dissertação analisa como a lógica do capital penetrou na saúde como resultado da necessidade de expansão das forças produtivas. O que se pretende confirmar é o processo no qual o capital, ao metamorfosear sua necessidade em necessidade universal, amplia suas bases de produção e faz parecer que, para alcançar níveis melhores de saúde, toda área precise depender de injeções cada vez mais vultuosas de capitais. Essa dependência, em suma ideológica, produz e cria os meios para a reprodução de suas contradições em todos os ramos da área de saúde. É nessa esteira que o capital portador de juros passa a determinar os processos de produção e reprodução na área, com o objetivo de alcançar lucros exorbitantes, ao ponto de sentenciar centenas de milhares de vidas a incerteza, a dor e até a morte do corpo e da alma pela falta de assistência das políticas de saúde. Problematiza-se os projetos em disputa na saúde, ressaltando o projeto contra-hegemônico da Reforma Sanitária elaborado nos anos 1970. Aborda-se a saúde por sua relevância e necessidade de transpô-la ao patamar de valor humanitário, a partir de uma inquietação tangencial, aos processos vivenciados no cotidiano entre aqueles que trabalham, para possibilitar o acesso a uma multidão cada vez maior e mais diversificada que requer, enquanto trabalhadores, direitos aos produtos e aos serviços de saúde. Tomando a referência do complexo industrial da saúde, no contexto de hegemonia do capital financeiro, evidencia-se sua consolidação na ampliação da acumulação e concentração frente à histórica necessidade do capital de assentar-se em bases materiais e de articular-se ao capital portador de juros. Na atualidade esse processo sustenta este modo de produção e garante sua produção/reprodução por meio da invenção crescente de capitais fictícios. No Brasil, ao passo que as políticas sociais são privatizadas, a concentração de capitais, os planos de investimento e crescimento das empresas por participação acionária são financiados com recursos públicos comprovados por meio dos programas do Banco Nacional de Desenvolvimento Social.

Análise estática e dinâmica de lajes nervuradas de concreto armado.

Nesta dissertação desenvolve-se um estudo sobre o comportamento estrutural de lajes nervuradas de concreto armado, tendo em mente o emprego destas em sistemas estruturais na engenharia civil, de forma viável sob o ponto de vista técnico e econômico. No cenário atual, diversos tipos de sistemas estruturais têm sido desenvolvidos, dentre estes as lajes nervuradas de concreto armado com base no sistema Reduzcon. Essas lajes nervuradas têm como principais características o baixo consumo de material e o peso próprio bastante reduzido. Este sistema utiliza cubas cilíndricas invertidas metálicas denominadas BRC (Barrote Redutor de Concreto), que suportam o concreto da laje. Assim sendo, este trabalho de pesquisa apresenta um estudo acerca da resposta estática e dinâmica do sistema estrutural em questão, em relação aos deslocamentos translacionais verticais e tensões; e, bem como, da resposta dinâmica do sistema sob o ponto de vista de conforto humano. Ênfase especial é dada às atividades humanas rítmicas, com base no emprego de modelos de carregamento que representem as ações inerentes à ginástica aeróbica. A definição das ações dinâmicas atuantes sobre os modelos estruturais foi feita com base em resultados de testes experimentais que levam em conta os efeitos de multidão. A análise numérica fundamenta-se na modelagem computacional do sistema, através do Método dos Elementos Finitos (MEF), de forma a representar apropriadamente o comportamento estrutural das lajes Reduzcon. São empregadas técnicas usuais de discretização, por meio do programa ANSYS. As vigas de bordo, nervuras e a laje de concreto são simuladas por elementos finitos sólidos tridimensionais.

A Rede Enraizados e o Movimento Hip Hop: ritornelos territoriais e o desenvolvimento da rádio web

O hip hop é um movimento político, social e cultural presente nas periferias do Brasil desde 1980. O hip hop vem se desenvolvendo ao longo dos anos, criando espaço, ganhando visibilidade e ampliando o seu público, principalmente entre os segmentos das juventudes urbanas. O presente trabalho teve como objetivo principal investigar o Movimento Enraizados, uma organização hip hop da Baixada Fluminense, que articula e interage com parceiros em diversos estados e alguns países. Nesse contexto, o estudo selecionou três questões como eixos para a análise. Como foi criada a Rede Enraizados e quais são suas principais características? Como o Movimento Enraizados produz territórios existenciais na Baixada Fluminense? Como o Movimento Enraizados utiliza a linguagem radiofônica para expressar suas ações? Para a análise das questões levantadas, a pesquisa utilizou o referencial teórico de Antonio Negri e Deleuze & Guattari, costurando os conceitos de comum, multidão, rádios livres, ritornelos, territórios. A sede do Movimento Enraizados, em Morro Agudo / Nova Iguaçu, é o centro Rede Enraizados e responsável pela dinamização das informações em seus diversos canais de comunicação. Ao disparar seus projetos e iniciativas na construção de uma rede intercontinental de apoio-mútuo, o Movimento Enraizados desterritorializa sentidos e práticas da Baixada Fluminense. Essa desterritorialização produz uma mensagem potente de militância cultural para jovens e fortalece redes para a construção de novas resistências biopolíticas nesses territórios.

大型公共环境人员疏散路径规划研究

大型公共环境人员疏散路径规划研究对指导安全设施建设、应急预案的制定、实施和推演都有重要意义。近年来进化计算领域兴起的分布估计算法为路径规划问题的解决提供了新的优化工具。本论文将一种典型的分布估计算法——贝叶斯优化算法，应用到大型公共环境人员疏散路径规划问题解决过程中，针对单路径人员疏散、多路径人员疏散和多目标点人员疏散三类具体的疏散路径规划问题，分别设计和实现了相应的基于贝叶斯优化的人员疏散路径规划算法，并在仿真实验中根据大型公共环境空间类型复杂和人员相对密集等特点，面向不同的规划要求和目的，求解出了满足约束条件的最优疏散路径集合。 本文提出的基于贝叶斯优化的人员疏散路径规划算法，以大型公共环境的基本信息已知为前提，基于二维环境下的拓扑空间法，按照应用系统的规划要求，通过引入疏散性能，路径安全性和易通性等参数，对疏散空间建立全局环境模型；在系统分析分布估计算法基本框架和特点的基础上，引入其中一类典型算法——贝叶斯优化算法，设计出一系列适于不同疏散路径规划问题的基于贝叶斯优化的路径规划算法。该算法用贝叶斯网络对优选路径集合建立概率模型，并由建立起的贝叶斯网络产生新的路径集合，与原有路径进行竞争，可以在找到一条最优的路径集合的同时，利用中间结果，快速找出多条较优的路径。仿真实验标明，该算法可以有效的满足大型公共环境下人员疏散的任务要求。

基于DSRC的多功能不停车收费系统

DSRC标准是ISO/TC204制定的智能交通系统(ITS)中车—路信息通讯的协议。采用双片式ETC电子标签结合双界面IC卡的储值卡方案形成的多功能不停车收费系统,充分兼容了当前国内普遍应用的IC卡半自动收费方式,集中了IC卡收费系统和ETC收费系统的优点,方便、快捷、通行能力强,并解决了收费口的交通拥挤现象。

五十万年来人类对黄土地区的适应性初步研究

After researching the coupling relationship among choosing raw material, stone technology, environmental change and Huaman evolution stage of archeological sites in different sediment in north China, the author thinks that: The human behavior is different in loessic region between glacial and interglacial ages. In Human evolution procession, Human erectus and early Human sapiens may co-exist in north China before L2, but after L2Human erectus disappear, and the stone technology of early Human sapiens become more progression. After comparing the age and environment, geology context, stone technology and using fire between them, we may make a preliminary conclusion that the environmental change during L2 maybe the outer reason and different capability of adaptation between Human erectus and early Human Sapiensis is the inner reason of Human erectus becoming disappear. The environmental change in last glacial climax and deglacial may result in new crowd and new culture entering into North China, which break the culture tradition which exist since early stage of palaeolithic. And play an important role from palaeolithic stage into neolithic stage. So unstable envirnmental change play an important role in Human evolution procession, and different scale environment change have different effect, large scale environmental change make small effect, but millenary scale even more short scale environmental change may bear more important role, some times it can transfer the evolution direction.

The Exodus evacuation model applied to building evacuation scenarios

The purpose of this paper is to demonstrate the potential of the EXODUS evacuation model in building environments. The latest PC/workstation version of EXODUS is described and is also applied to a large hypothetical supermarket/restaurant complex measuring 50 m x 40 m. A range of scenarios is presented where population characteristics (such as size, individual travel speeds, and individual response times), and enclosure configuration characteristics (such as number of exits, size of exits, and opening times of exits) are varied. The results demonstrate a wide range of occupant behavior including overtaking, queuing, redirection, and conflict avoidance. Evacuation performance is measured by a number of model predicted parameters including individual exit flow rates, overall evacuation flow rates, total evacuation time, average evacuation time per occupant, average travel distance, and average wait time. The simulations highlight the profound impact that variations in individual travel speeds and occupant response times have in determining the overall evacuation performance. 1. Jin, T., and Yamada T., "Experimental Study of Human Behavior in Smoke Filled Corridors," Proceedings of The Second International Symposium on Fire Safety Science, 1988, pp. 511-519. 2. Galea, E.R., and Galparsoro, J.M.P., "EXODUS: An Evacuation Model for Mass Transport Vehicles," UK CAA Paper 93006 ISBN 086039 543X, CAA London, 1993. 3. Galea, E.R., and Galparsoro, J.M.P., "A Computer Based Simulation Model for the Prediction of Evacuation from Mass Transport Vehicles," Fire Safety Journal, Vol. 22, 1994, pp. 341-366. 4. Galea, E.R., Owen, M., and Lawrence, P., "Computer Modeling of Human Be havior in Aircraft Fire Accidents," to appear in the Proceedings of Combus tion Toxicology Symposium, CAMI, Oklahoma City, OK, 1995. 5. Kisko, T.M. and Francis, R.L., "EVACNET+: A Computer Program to Determine Optimal Building Evacuation Plans," Fire Safety Journal, Vol. 9, 1985, pp. 211-220. 6. Levin, B., "EXITT, A Simulation Model of Occupant Decisions and Actions in Residential Fires," Proceedings of The Second International Symposium on Fire Safety Science, 1988, pp. 561-570. 7. Fahy, R.F., "EXIT89: An Evacuation Model for High-Rise Buildings," Pro ceedings of The Third International Sym posium on Fire Safety Science, 1991, pp. 815-823. 8. Thompson, P.A., and Marchant, E.W., "A Computer Model for the Evacuation of Large Building Populations," Fire Safety Journal, Vol. 24, 1995, pp. 131-148. 9. Still, K., "New Computer System Can Predict Human Behavior Response to Building Fires," FIRE 84, 1993, pp. 40-41. 10. Ketchell, N., Cole, S.S., Webber, D.M., et.al., "The Egress Code for Human Move ment and Behavior in Emergency Evacu ations," Engineering for Crowd Safety (Smith, R.A., and Dickie, J.F., Eds.), Elsevier, 1993, pp. 361-370. 11. Takahashi, K., Tanaka, T. and Kose, S., "An Evacuation Model for Use in Fire Safety Design of Buildings," Proceedings of The Second International Symposium on Fire Safety Science, 1988, pp. 551- 560. 12. G2 Reference Manual, Version 3.0, Gensym Corporation, Cambridge, MA. 13. XVT Reference Manual, Version 3.0 XVT Software Inc., Boulder, CO. 14. Galea, E.R., "On the Field Modeling Approach to the Simulation of Enclosure Fires, Journal of Fire Protection Engineering, Vol. 1, No. 1, 1989, pp. 11-22. 15. Purser, D.A., "Toxicity Assessment of Combustion Products," SFPE Handbook of Fire Protection Engineering, National Fire Protection Association, Quincy, MA, pp. 1-200 - 1-245, 1988. 16. Hankin, B.D., and Wright, R.A., "Pas senger Flows in Subways," Operational Research Quarterly, Vol. 9, 1958, pp. 81-88. 17. HMSO, The Building Regulations 1991 - Approved Document B, section B 1 (1992 edition), HMSO publications, London, pp. 9-40. 18. Polus A., Schofer, J.L., and Ushpiz, A., "Pedestrian Flow and Level of Service," Journal of Transportation Engineering, Vol. 109, 1983, pp. 46-47. 19. Muir, H., Marrison, C., and Evans, A., "Aircraft Evacuations: the Effect of Passenger Motivation and Cabin Con figuration Adjacent to the Exit," CAA Paper 89019, ISBN 0 86039 406 9, 1989. 20. Muir, H., Private communication to appear as a CAA report, 1996.

La ruptura de una economía moral y las deslegitimación de las deudas hipotecarias

In Spain, during the recent housing bubble, purchasing a home seemed the most advantageous strategy to access housing, and there was a wide social consensus about the unavoidability of mortgage indebtedness. However, such consensus has been challenged by the financial and real-estate crisis. The victims of home repossessions have been affected by the transgression of several principles, such as the fair compensation for effort and sacrifice, the prioritisation of basic needs over financial commitments, the possibility of a second chance for over-indebted people, or the State's responsibility to guarantee its citizens' livelihood. Such principles may be understood as part of a moral economy, and their transgression has resulted in the emergence of a social movement, the Plataforma de Afectados por la Hipoteca (PAH), that is questioning the legitimacy of mortgage debts. The article reflects on the extent to which the perception of over-indebtedness and evictions as unfair situations can have an effect on the reproduction of the political-economic system, insofar the latter is perceived as able or unable to repair injustice.

Hillsborough: The Truth

Hillsborough: The Truth was first published in 1999 to universal acclaim. Established as the definitive, unique account of the disaster, in which 96 men, women and children died, hundreds were injured and thousands traumatised, it details the appalling treatment endured by the bereaved and survivors in the immediate aftermath and the inhumanity of the identification process. It reveals the inadequacies of the police investigations, official inquiries and inquests, uncovering the systematic review and alteration of South Yorkshire police statements conducted with the approval of police investigators and Lord Justice Taylor’s inquiry. It examines in depth the subsequent private prosecution and trial of two senior police officers in 2000. Using verbatim accounts, Scraton's detailed analysis demonstrates the inadequacy of legal processes and the remarkable breadth of judicial discretion, undermining and inhibiting such cases.

Powerful, disturbing and harrowing, Hillsborough: The Truth exposes the institutional complacency that made a tragedy on this scale inevitable. It shows the law’s failure to provide appropriate means of access, disclosure and redress for those facing the consequences of institutional neglect and personal negligence. And it tells how ordinary people suffer when those in authority sacrifice truth and accountability to protect their reputations. In this new edition Scraton reflects critically on two decades of policy and legal reform including crowd safety and inquest procedure and on the continuing struggles of the bereaved and survivors who have campaigned relentlessly for truth, acknowledgment and justice.

Vis-á-Vis-á-Vis. The Three-dimensional and artistic view of a problem

ANPO (A Non-predefined Outcome) is an an art-making methodology that employs structuralist theory of language (Saussure, Lacan, Foucault) combined with Hegel’s dialectic and the theory of creation of space by Lefebvre to generate spaces of dialogue and conversation between community members and different stakeholders. These theories of language are used to find artistic ways of representing a topic that community members have previously chosen. The topic is approached in a way that allows a visual, aural, performative and gustative form. To achieve this, the methodology is split in four main steps: step 1 ‘This is not a chair’, Step 2 ‘The topic’, Step 3 ‘ Vis-á-vis-á-vis’ and step 4. ‘Dialectical representation’ where the defined topic is used to generate artistic representations.The step 1 is a warm up exercise informed by the Rene Magritte painting ‘This is not a Pipe’. This exercise aims to help the participants to see an object as something else than an object but as a consequence of social implications. Step 2, participants choose a random topic and vote for it. The artist/facilitator does not predetermine the topic, participants are the one who propose it and choose it. Step 3, will be analysed in this publication and finally step 4, the broken down topic is taken to be represented and analysed in different ways. 

Explaining effervescence:: Shared social identity and positive experience in crowds

We develop and test a dual pathway model of effervescence - the intensely positive experience of being in a crowd. The model proposes that positive feelings arise when those attending a mass event see each other as sharing a common social identity. This sense of shared identity predicts (a) crowd participants’ ability to enact their valued collective identity, and (b) the intimacy of social relations between crowd members. In turn, both of these are theorized to predict crowd members’ positivity of experience. These ideas are tested using survey data from pilgrims (n = 416) attending the Magh Mela - a month-long Hindu pilgrimage festival in north India. The findings provide clear support for the model.

The legacy of Hillsborough:Liberating truth, challenging power

In April 1989, ninety-six men, women and children, supporters of Liverpool Football Club, died in a severe crush at an FA Cup semi-final at Hillsborough Stadium, Sheffield. Hundreds were injured and thousands traumatised. Within hours, the causes and circumstances of the disaster were contested. While a judicial inquiry found serious institutional failures in the policing and management of the capacity crowd, no criminal prosecutions resulted, and the inquests returned ‘accidental death’ verdicts. Immediately, the authorities claimed that drunken, violent fans had caused the fatal crush. Denied legitimacy, survivors’ accounts revealed a different story criticising the parlous state of the stadium, inadequate stewarding, negligent policing, failures in the emergency response and flawed processes of inquiry and investigation. Reflecting on two decades of research and contemporaneous interviews with bereaved families and survivors, this article contrasts the official discourse with those alternative accounts – the ‘view from below’. It demonstrates the influence of powerful institutional interests on the inquiries and investigations. It maps the breakthrough to full documentary disclosure following the appointment of the Hillsborough Independent Panel, its research and key findings published in September 2012. The campaigns by families and survivors were vindicated and the fans, including those who died, were exonerated. The process is discussed as an alternative method for liberating truth, securing acknowledgement and pursuing justice.

The rise of the digital citizen-stakeholder: rebalancing multistakeholder governance

The principle feature in the evolution of the internet has been its ever growing reach to include old and young, rich and poor. The internet’s ever encroaching presence has transported it from our desktop to our pocket and into our glasses. This is illustrated in the Internet Society Questionnaire on Multistakeholder Governance, which found the main factors affecting change in the Internet governance landscape were more users online from more countries and the influence of the internet over daily life. The omnipresence of the internet is self- perpetuating; its usefulness grows with every new user and every new piece of data uploaded. The advent of social media and the creation of a virtual presence for each of us, even when we are not physically present or ‘logged on’, means we are fast approaching the point where we are all connected, to everyone else, all the time. We have moved far beyond the point where governments can claim to represent our views which evolve constantly rather than being measured in electoral cycles.
The shift, which has seen citizens as creators of content rather than consumers of it, has undermined the centralist view of democracy and created an environment of wiki democracy or crowd sourced democracy. This is at the heart of what is generally known as Web 2.0, and widely considered to be a positive, democratising force. However, we argue, there are worrying elements here too. Government does not always deliver on the promise of the networked society as it involves citizens and others in the process of government. Also a number of key internet companies have emerged as powerful intermediaries harnessing the efforts of the many, and re- using and re-selling the products and data of content providers in the Web 2.0 environment. A discourse about openness and transparency has been offered as a democratising rationale but much of this masks an uneven relationship where the value of online activity flows not to the creators of content but to those who own the channels of communication and the metadata that they produce.
In this context the state is just one stakeholder in the mix of influencers and opinion formers impacting on our behaviours, and indeed our ideas of what is public. The question of what it means to create or own something, and how all these new relationships to be ordered and governed are subject to fundamental change. While government can often appear slow, unwieldy and even irrelevant in much of this context, there remains a need for some sort of political control to deal with the challenges that technology creates but cannot by itself control. In order for the internet to continue to evolve successfully both technically and socially it is critical that the multistakeholder nature of internet governance be understood and acknowledged, and perhaps to an extent, re- balanced. Stakeholders can no longer be classified in the broad headings of government, private sector and civil society, and their roles seen as some sort of benign and open co-production. Each user of the internet has a stake in its efficacy and each by their presence and participation is contributing to the experience, positive or negative of other users as well as to the commercial success or otherwise of various online service providers. However stakeholders have neither an equal role nor an equal share. The unequal relationship between the providers of content and those who simple package up and transmit that content - while harvesting the valuable data thus produced - needs to be addressed. Arguably this suggests a role for government that involves it moving beyond simply celebrating and facilitating the on- going technological revolution. This paper reviews the shifting landscape of stakeholders and their contribution to the efficacy of the internet. It will look to critically evaluate the primacy of the individual as the key stakeholder and their supposed developing empowerment within the ever growing sea of data. It also looks at the role of individuals in wider governance roles. Governments in a number of jurisdictions have sought to engage, consult or empower citizens through technology but in general these attempts have had little appeal. Citizens have been too busy engaging, consulting and empowering each other to pay much attention to what their governments are up to. George Orwell’s view of the future has not come to pass; in fact the internet has insured the opposite scenario has come to pass. There is no big brother but we are all looking over each other’s shoulder all the time, while at the same time a number of big corporations are capturing and selling all this collective endeavour back to us.