Multisensorial obstacles detection and classification for ADAS and autonomous driving

A reliable perception of the real world is a key-feature for an autonomous vehicle and the Advanced Driver Assistance Systems (ADAS). Obstacles detection (OD) is one of the main components for the correct reconstruction of the dynamic world. Historical approaches based on stereo vision and other 3D perception technologies (e.g. LIDAR) have been adapted to the ADAS first and autonomous ground vehicles, after, providing excellent results. The obstacles detection is a very broad field and this domain counts a lot of works in the last years. In academic research, it has been clearly established the essential role of these systems to realize active safety systems for accident prevention, reflecting also the innovative systems introduced by industry. These systems need to accurately assess situational criticalities and simultaneously assess awareness of these criticalities by the driver; it requires that the obstacles detection algorithms must be reliable and accurate, providing: a real-time output, a stable and robust representation of the environment and an estimation independent from lighting and weather conditions. Initial systems relied on only one exteroceptive sensor (e.g. radar or laser for ACC and camera for LDW) in addition to proprioceptive sensors such as wheel speed and yaw rate sensors. But, current systems, such as ACC operating at the entire speed range or autonomous braking for collision avoidance, require the use of multiple sensors since individually they can not meet these requirements. It has led the community to move towards the use of a combination of them in order to exploit the benefits of each one. Pedestrians and vehicles detection are ones of the major thrusts in situational criticalities assessment, still remaining an active area of research. ADASs are the most prominent use case of pedestrians and vehicles detection. Vehicles should be equipped with sensing capabilities able to detect and act on objects in dangerous situations, where the driver would not be able to avoid a collision. A full ADAS or autonomous vehicle, with regard to pedestrians and vehicles, would not only include detection but also tracking, orientation, intent analysis, and collision prediction. The system detects obstacles using a probabilistic occupancy grid built from a multi-resolution disparity map. Obstacles classification is based on an AdaBoost SoftCascade trained on Aggregate Channel Features. A final stage of tracking and fusion guarantees stability and robustness to the result.

Obstacles and solutions to maximising biodiversity in major urban development schemes

The current rate of global biodiversity loss led many governments to sign the international agreement ‘Halting Biodiversity Loss by 2010 and beyond’ in 2001. The UK government was one of these and has a number of methods to tackle this, such as: commissioning specific technical guidance and supporting the UK Biodiversity Acton Plan (BAP) targets. However, by far the most effective influence the government has upon current biodiversity levels is through the town planning system. This is due to the control it has over all phases of a new development scheme’s lifecycle.There is an increasing myriad of regulations, policies and legislation, which deal with biodiversity protection and enhancement across the hierarchical spectrum: from the global and European level, down to regional and local levels. With these drivers in place, coupled with the promotion of benefits and incentives, increasing biodiversity value ought to be an achievable goal on most, if not all development sites. However, in the professional world, this is not the case due to a number of obstructions. Many of these tend to be ‘process’ barriers, which are particularly prevalent with ‘urban’ and ‘major’ development schemes, and is where the focus of this research paper lies.The paper summarises and discusses the results of a questionnaire survey, regarding obstacles to maximising biodiversity enhancements on major urban development schemes. The questionnaire was completed by Local Government Ecologists in England. The paper additionally refers to insights from previous action research, specialist interviews, and case studies, to reveal the key process obstacles.Solutions to these obstacles are then alluded to and recommendations are made within the discussion.

Obstacles and solutions to maximising urban biodiversity throughout the lifecycles of major developments in England

Thus far, achieving net biodiversity gains through major urban developments has been neither common nor straightforward - despite the presence of incentives, regulatory contexts, and ubiquitous practical guidance tools. A diverse set of obstructions, occurring within different spatial, temporal and actor hierarchies, are experienced by practitioners and render the realisation of maximised biodiversity, a rarity. This research aims to illuminate why this is so, and what needs to be changed to rectify the situation. To determine meaningful findings and conclusions, capable of assisting applied contexts and accommodating a diverse range of influences, a ‘systems approach’ was adopted. This approach led to the use of a multi-strategy research methodology, to identify the key obstructions and solutions to protecting and enhancing biodiversity - incorporating the following methods: action research, a questionnaire to local government ecologists, interviews and personal communications with leading players, and literature reviews. Nevertheless, ‘case studies’ are the predominant research method, the focus being a ‘nested’ case study looking at strategic issues of the largest regeneration area in Europe ‘the Thames Gateway’, and the largest individual mixeduse mega-development in the UK (at the time of planning consent) ‘Eastern Quarry 2’ - set within the Gateway. A further key case study, focussing on the Central Riverside development in Sheffield, identifies the merits of competition and partnership. The nested cases, theories and findings show that the strategic scale - generally relating to governance and prioritisation - impacts heavily upon individual development sites. It also enables the identification of various processes, mechanisms and issues at play on the individual development sites, which primarily relate to project management, planning processes, skills and transdisciplinary working, innovative urban biodiversity design capabilities, incentives, organisational cultures, and socio-ecological resilience. From these findings a way forward is mapped, spanning aspects from strategic governance to detailed project management.

Determining planar multiple sound-soft obstacles from scattered acoustic fields

An inverse problem is considered where the structure of multiple sound-soft planar obstacles is to be determined given the direction of the incoming acoustic field and knowledge of the corresponding total field on a curve located outside the obstacles. A local uniqueness result is given for this inverse problem suggesting that the reconstruction can be achieved by a single incident wave. A numerical procedure based on the concept of the topological derivative of an associated cost functional is used to produce images of the obstacles. No a priori assumption about the number of obstacles present is needed. Numerical results are included showing that accurate reconstructions can be obtained and that the proposed method is capable of finding both the shapes and the number of obstacles with one or a few incident waves.

Some obstacles to the establishment of a universal method of education for parenthood by the P.N.E.U

DUE TO COPYRIGHT RESTRICTIONS ONLY AVAILABLE FOR CONSULTATION AT ASTON UNIVERSITY LIBRARY AND INFORMATION SERVICES WITH PRIOR ARRANGEMENT

Cloud adoption:prioritizing obstacles and obstacles resolution tactics using AHP

The enormous potential of cloud computing for improved and cost-effective service has generated unprecedented interest in its adoption. However, a potential cloud user faces numerous risks regarding service requirements, cost implications of failure and uncertainty about cloud providers' ability to meet service level agreements. These risks hinder the adoption of cloud. We extend the work on goal-oriented requirements engineering (GORE) and obstacles for informing the adoption process. We argue that obstacles prioritisation and their resolution is core to mitigating risks in the adoption process. We propose a novel systematic method for prioritising obstacles and their resolution tactics using Analytical Hierarchy Process (AHP). We provide an example to demonstrate the applicability and effectiveness of the approach. To assess the AHP choice of the resolution tactics we support the method by stability and sensitivity analysis. Copyright 2014 ACM.

Foglalkoztatás-bővítési kilátások és akadályok az üzleti szférában(Employment expansion prospects and obstacles in the business sphere)

Empirikus vizsgálatok szerint a vállalatok fejlesztési törekvéseit Magyarországon is elsősorban a piaci kilátások határozzák meg, a finanszírozási körülmények szerepe jóval gyengébb. A beruházások és innovációk végrehajtása elsősorban a műszaki végzettségűek iránti keresletet növelheti, a szakképzetlen dolgozók körében viszont gyakran leépítésekre vezet. A vállalatok igénye és az állást keresők kompetenciái azonban nemcsak a szakmastruktúrában térnek el. A korábban megvalósított fejlesztéseknek a válság idején munkahelymegtartó szerepe volt. A jövőbeni fejlesztések munkaerőigényének kielégítésében mind az üzleti szektor szereplőinek, mind a szakpolitikáknak fontos tennivalói vannak. _______ According to recent empirical research development efforts of companies in Hungary are primarily determined by the market outlook, the role of financing conditions is much weaker. Implementation of investments and innovation can increase in first row the demand for technical professionals and often causes dismissals in unskilled labour. The demand of companies and competences of job seekers diverge not only in the professional structure. Earlier fulfilled development had workplace keeping role during the recession. Both actors of business sector and policies have important tasks to do in satisfying labour demand of future developments.

Activité physique et obstacles à sa pratique chez des individus à risque de diabète de différentes origines ethnoculturelles

Mémoire numérisé par la Direction des bibliothèques de l'Université de Montréal.

Activité physique et obstacles à sa pratique chez des individus à risque de diabète de différentes origines ethnoculturelles

Mémoire numérisé par la Direction des bibliothèques de l'Université de Montréal.

Content and discontent: a qualitative exploration of obstacles to elearning engagement in medical students

BACKGROUND: Elearning is ubiquitous in healthcare professions education. Its equivalence to 'traditional' educational delivery methods is well established. There is a research imperative to clarify when and how to use elearning most effectively to mitigate the potential of it becoming merely a 'disruptive technology.' Research has begun to broadly identify challenges encountered by elearning users. In this study, we explore in depth the perceived obstacles to elearning engagement amongst medical students. Sensitising concepts of achievement emotions and the cognitive demands of multi-tasking highlight why students' deeply emotional responses to elearning may be so important in their learning.

METHODS: This study used focus groups as a data collection tool. A purposeful sample of 31 participated. Iterative data gathering and analysis phases employed a constant comparative approach to generate themes firmly grounded in participant experience.

RESULTS: Key themes that emerged from the data included a sense of injustice, passivity and a feeling of being 'lost at sea'. The actual content of the elearning resource provided important context.

CONCLUSIONS: The identified themes have strong emotional foundations. These responses, interpreted through the lens of achievement emotions, have not previously been described. Appreciation of their importance is of benefit to educators involved in curriculum development or delivery.

Analyse des obstacles et des facilitateurs concernant la participation au travail de personnes présentant un trouble de la personnalité limite : points de vue de différents acteurs clés

Résumé : Problématique : Le trouble de la personnalité limite (TPL) est une condition psychiatrique touchant environ 1 % de la population et 20 % de la clientèle recevant des services en psychiatrie (Gunderson et Links, 2008). L’un des domaines du fonctionnement dans la vie quotidienne le plus touché chez cette population est le travail (Gunderson et al., 2011; Larivière et al., 2010; Zanarini et al., 2012). À notre connaissance, aucune étude n’a décrit de façon approfondie la participation au travail des personnes présentant un TPL. Objectif : L’objectif général de cette étude vise à identifier et à décrire les obstacles, les facilitateurs de même que les solutions possibles de la participation au travail des personnes présentant un TPL selon leur point de vue et celui de leurs intervenants. Méthodologie : Une étude de cas multiples a été utilisée (Yin, 2009). Neuf cas ont été étudiés selon trois contextes socioprofessionnels de la participation au travail : A. Réintégration (personne en invalidité), B. Retour (personne en absence maladie) et C. Maintien au travail. Pour chacun des contextes, trois dyades incluant une personne avec un TPL (âgée de 18 à 55 ans) et son intervenant soutenant la participation au travail ont été interviewées. Résultats: Les résultats qualitatifs (n = 18) ont démontré que la participation au travail des personnes présentant un TPL est influencée par des facteurs individuels (p. ex., la réaction face à la pression et aux relations de travail, la régulation émotionnelle) ainsi que des facteurs liés aux acteurs et procédures des systèmes de l’assurance, organisationnel et de la santé (p. ex., la collaboration et la communication entre les acteurs, l’alliance de travail entre les acteurs et la personne présentant un TPL, les mesures d’accommodement et de soutien naturel dans le milieu de travail). Conclusions et implication clinique : Cette étude met en lumière le défi important et spécifique que représente la participation au travail pour les personnes présentant un TPL. Elle implique des facteurs personnels et environnementaux qui doivent être considérés par tous les acteurs impliqués (les utilisateurs de services, les professionnels de la santé, les assureurs et les employeurs). Les programmes de réadaptation au travail actuels devraient être bonifiés et coordonnés adéquatement avec les thérapies spécialisées afin d’aborder de manière optimale les enjeux liés à la participation au travail des personnes présentant un TPL.

Les bandes riveraines au Québec : obstacles à leur végétalisation et démarche à entreprendre

Les bandes riveraines des cours d’eau sont essentielles au maintien d’un équilibre écosystémique entre l’environnement terrestre et hydrique. Elles sont souvent définies comme une bande de terre végétalisée qui borde les cours d’eau. Celles-ci procurent des avantages environnementaux, paysagers et économiques importants aux communautés qui en bénéficient. Au Québec, plusieurs lois et règlements gouvernementaux ont un impact sur les bandes riveraines. La gestion de la compétence et l’application règlementaire sont déléguées aux municipalités, toutefois ce ne sont pas toutes les municipalités qui appliquent leur règlementation et cela a un impact négatif sur la santé des bandes riveraines dont on constate la dégradation sur les berges de nombreux cours d’eau. L’objectif de cet essai vise à présenter un portrait de la situation des bandes riveraines au Québec et de leur état, ainsi que d’identifier les différents obstacles à leur végétalisation. Ces derniers se divisent en trois groupes soit l’insuffisance de volonté politique de la part des élus municipaux afin de faire appliquer la règlementation en vigueur, le manque de ressources financières et humaines dans la fonction publique municipale et l’utilisation du territoire par les propriétaires riveraines. Ces différents freins favorisent la dégradation des berges des rivières du Québec. Cet essai a également comme objectif de présenter les actions effectuées par les communautés locales afin d’améliorer la situation. Depuis plusieurs années, certaines municipalités ont décidé de végétaliser leurs berges et de conscientiser leurs citoyens aux bienfaits des bandes riveraines et à leur préservation. Diverses organisations se sont aussi données comme mandat d’agir dans leur localité. C’est le cas des organismes de bassin versant et des associations de riverains qui organisent des actions de distribution et de plantations d’arbres, ainsi que de sensibilisation. Pour encourager l’ensemble des municipalités du Québec à agir et les aider dans la mise en œuvre d’actions, une démarche est détaillée dans le présent essai misant, entre autres, sur la sensibilisation des riverains, l’aménagement de bandes riveraines publiques et un plan de communication. Des recommandations destinées au gouvernement et aux instances municipales sont également formulées afin de modifier les mécanismes entourant la gestion règlementaire des bandes riveraines et pour les végétaliser adéquatement afin qu’elles puissent fournir des services écosystémiques nécessaires au maintien d’un équilibre entre les milieux aquatiques et terrestres. Enfin, les municipalités gagneraient à faire appliquer leur règlementation si elles veulent améliorer leur environnement et la qualité de l’eau sur leur territoire.

Influência dos obstáculos de pequena dimensão na estruturação dos agrupamentos piscícolas: The impact of small physical obstacles on the structure of freshwater fish assemblages

O efeito das grandes barragens na comunidade piscícola vem sendo documentado por numerosos estudos, enquanto o número de trabalhos que incidem sobre o efeito dos obstáculos de pequena dimensão é bastante mais reduzido. A comunidade piscícola foi amostrada e as variáveis ambientais foram caracterizadas em 28 locais divididos por dois cursos de água da Península Ibérica, 14 dos quais localizados imediatamente a montante, jusante e entre cinco pequenos obstáculos na Ribeira de Muge e 14 na Ribeira de Erra, considerada a linha de água de referência. Através de análise estatística multivariada foi possível verificar que variáveis de habitat como a velocidade de corrente e a profundidade, e não as variáveis físico-químicas, foram as principais responsáveis pela discriminação dos vários grupos de locais nas duas ribeiras. A ribeira de referência exibiu um gradiente longitudinal de velocidade de corrente que, contudo, não era suficientemente forte para causar alterações significativas na composição e estrutura dos agrupamentos piscícolas. Através da sucessiva e drástica repetição deste gradiente junto a cada estrutura, a ribeira com obstáculos apresentou diferenças na fauna piscícola entre os três tipos de locais. Os troços lênticos a montante apresentavam uma densidade mais elevada de espécies limnofilicas, omnívoras e exóticas, como o góbio (Gobio lozanoi), que estão bem adaptadas a este tipo de habitat. Os locais de amostragem situados a jusante e entre os obstáculos caracterizavam-se pela dominância de taxa reófilos e invetivo-os (i.e. barbo, Luciobarbus bocagei). As métricas relacionadas com a riqueza específica não apresentaram diferenças entre os três tipos de locais, ao contrário da diversidade que foi mais elevada nos pontos situados entre os obstáculos, afastados da sua influência directa, onde a diversidade de habitats também é mais elevada. Contrariamente aos locais a montante, os troços a jusante e entre os obstáculos apresentaram similaridades, em muitas das características estudadas, com a ribeira de referência, sugerindo que este tipo de estruturas provoca uma alteração mais significativa na comunidade piscícola a montante. Este estudo sugere que os efeitos dos pequenos obstáculos no habitat e na ictiofauna são, em parte, semelhantes aos descritos para as grandes barragens, fornecendo considerações importantes para os esforços de conservação dos ecossistemas ribeirinhos. ABSTRACT; Many studies have assessed the effects of large dams on fishes but few have examined the effects of small obstacles. Fishes were sampled and environmental variables were characterized at 28 sites in two lberian streams, 14 located immediately downstream, upstream and between five small obstacles at River Muge and 14 at River Erra, considered as the reference stream. Multivariate analysis indicated that habitat variables like current velocity and depth, but not physicochemistry, were the main responsible for site groups' discrimination in both streams. The reference stream exhibited a longitudinal gradient of current velocity that, however, wasn't strong enough to cause significant changes in the fish assemblage's composition and structure. By successive and drastically repeating this gradient near each structure, the obstac1es stream presented differences in fish fauna between the three site types. Lentic upstream sites presented higher density of limnophilic, omnivorous and exotic species, like gudgeon Gobio lozanoi, who are well adapted to this type of habitat. Downstream and between obstacles sites were characterized by the dominance of rheophilic and invertivorous taxa, especially barbel Luciobarbus bocagei. Richness metrics did not differ among site types, but diversity was higher in sites located between the obstacles away from its direct influence, where the habitat diversity was higher. Contrarily to upstream sites, downstream and between obstacles sites were similar in many of the studied features to the reference stream, implying that this type of structures cause a higher modification in the upstream fish community. This study suggests that the effects of small obstacles on habitat and fishes are similar, in some extent, to those reported for larger dams, providing important considerations for riverine ecosystem conservation efforts.