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Toward Dynamic Tactical Remote Robotic Ops: Active Perception and Other Key Technologies.
Abstract not provided.
Method of controlling a vehicle to adjust perception system energy usage
A method of controlling a vehicle includes determining a current operating situation of the vehicle, and identifying a subset of a plurality of sensors of the vehicle needed to provide data to enable a vehicle control function for the current operating situation of the vehicle. A remainder of the plurality of sensors is disengaged to reduce electric energy usage by the vehicle while the vehicle is operating in the current operating situation of the vehicle. A sampling rate for the selected subset of sensors may be reduced to further reduce energy usage of the vehicle. Additionally, an energy reduction processing strategy may be implemented to reduce a processor frequency or a voltage of a computing device used to provide the vehicle control function to further reduce energy usage of the vehicle.
Negative Perceptions About the Applicability of Source-to-Source Compilers in HPC: A Literature Review
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Negative Perceptions About the Applicability of Source-to-Source Compilers in HPC: A Literature Review.
Abstract not provided.
The Value of Long-Duration Energy Storage: Policy and Perception (conference paper).
Abstract not provided.
Improving Operational Efficiency, Compliance and Community Perception with Real-time Data - 19260
The nuclear and medical radiation industry has always faced a significant burden in effectively balancing exposure and productivity. Maintenance operations and development of new techniques require significant staffing resources to monitor and review personnel exposures and changes in operational radiation levels. Currently utilised monitoring technology and review techniques remain unchanged since the 1950's, relying upon mostly analogue instrumentation and paper reporting. After utilising isolated-area monitoring during a reactor decommissioning project it became apparent that current systems created false assurance as the units continually failed without warning due to 'dirty' power. These instrument failures could have easily led to an unnecessary exposure while operators continued to assume they were being safely monitored. This paper is a philosophical discussion on how current shortcomings could be addressed, security increased, and exposure risks minimised, by utilising real-time monitoring and automated reporting. The community and media expectations of reported data and nuclear monitoring systems continue to be coloured by sensational technology seen in movies and emerging technology available through smart homes and smart cities initiatives. For the general public to be more engaged with real radiation levels and effects, the nuclear industry needs to more effectively communicate safe levels. Organisations can have regain control of exposure levels discussions through the controlled release of background and expected exposure level data. An increase in real world monitoring data communicated in a controlled and more effective way will aid in the general public accepting, and being educated about, the minimal increase above natural background levels of the nuclear industry and other radiation facilities. This is particularly as Australia is in the process of implementing its Nuclear Waste Facility, with community acceptance the number one inhibitor of being able to move forward. Storage, mobile assets, and processing all present unique management, security, exposure, and telemetry challenges for a facility operations manager. Active monitoring and automated review of the monitoring data can alert operators to any unexpected events before any resultant increases in radiation levels cause an unplanned exposure to operators or the environment. Integration of radiation monitoring data with global positioning telemetry enables better organisational awareness of mobile asset location and early detection of any potential shifting and reduction in shielding integrity of sources and encapsulated waste during transport. Additionally, the real-time monitoring can be set-up to enhance an organisations' or nation's security capabilities. For instance, the real time monitor will send an automated alert in the case of an unexpected movement of a source through a monitored facility or for an unscheduled movement of a monitored vehicle. There are further benefits to be gained in control, ALARA principles and effluent management by increasing real-time monitoring capabilities through the stages of the waste cycle. Increasing operational effectiveness while delivering operational cost savings sounds like an attractive proposition. With increased access to operational area radiation data comes drastically improved real-time management of exposures for new, and experimental practices. Increased live data can be utilised to identify optimum practices for reducing operational and environmental exposures or releases. This increased operational data effectively comes with the added benefit of a reduction in the required health physics personnel resources for general operations. By reducing exposure and the detachment of required health physics resources from routine operations, there is greater availability for these resources to support maintenance operations and project-based work. The review of this increased data will create internal capability to identify low-- and high-risk activities, resulting in the ability to reduce the number of highly skilled workers in an industry where the availability of this talent is declining. During my time as the Radiation Safety and Nuclear Security Manager at a research facility, I implemented a real-time monitoring system. The system identified a secondary risk that had previously been unidentified and posed a higher exposure and security risk than the radiation practice being monitored. What stops industry from implementing technology that encourages agile work practices, while minimising security risks and personnel exposure? (authors)
A Novel Methodology for Longitudinal Studies of Home Thermal Comfort Perception and Behavior
Human-building interactions significantly influence building energy consumption and affect peak energy demand. For example, heating and cooling contribute 46% of daily peak residential energy demand. Grid-interactive efficient buildings (GEBs) can potentially increase energy-demand flexibility and accelerate the adoption of renewables. However, traditional demand response (DR) programs focused on shedding peak loads disregard the human-building interactions leading to occupant thermal frustration. Specifically, they do not model occupants’ ability to override thermostat controls, nor how indoor environmental conditions and sociocultural factors affect the timing and magnitude of overrides. Studies have found 20% of occupants override thermostat setpoints during DR events longer than 6 hours yet lack detail about the motivation that might guide more successful efforts. Balancing energy-demand flexibility with occupant thermal comfort requires understanding dynamic occupant behavior, the underlying psychophysiological drivers, in the context of homes. This paper presents methods for scalable longitudinal studies of residential occupant behavior dynamics to inform the development of psychophysiological occupant-centric building models. Smart sensors were installed to measure local environmental conditions in 20 homes in two regions of the United States. Just-in-time ecological momentary assessments (EMAs) provided qualitative data on occupant thermal comfort and local environmental conditions not captured in Internet-of-Things (IoT) based studies or existing datasets. Participant interviews provided insight into environmental attitudes, mental models, and the role of economics in comfort and behavior, which in turn may affect thermostat interactions. Based on these data, interventions in the next phase of the study will collect data and monitor occupant behavior during simulated DR events.
Evidence for a Dark-is-More Bias in Risk Perception
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Development of Fuzzy Logic and Soft Computing Methodologies
Our earlier research on computing with words (CW) has led to a new direction in fuzzy logic which points to a major enlargement of the role of natural languages in information processing, decision analysis and control. This direction is based on the methodology of computing with words and embodies a new theory which is referred to as the computational theory of perceptions (CTP). An important feature of this theory is that it can be added to any existing theory - especially to probability theory, decision analysis, and control - and enhance the ability of the theory to deal with real-world problems in which the decision-relevant information is a mixture of measurements and perceptions. The new direction is centered on an old concept - the concept of a perception - a concept which plays a central role in human cognition. The ability to reason with perceptions perceptions of time, distance, force, direction, shape, intent, likelihood, truth and other attributes of physical and mental objects - underlies the remarkable human capability to perform a wide variety of physical and mental tasks without any measurements and any computations. Everyday examples of such tasks are parking a car, driving in city traffic, cooking a meal, playing golf and summarizing a story. Perceptions are intrinsically imprecise. Imprecision of perceptions reflects the finite ability of sensory organs and ultimately, the brain, to resolve detail and store information. More concretely, perceptions are both fuzzy and granular, or, for short, f-granular. Perceptions are f-granular in the sense that: (a) the boundaries of perceived classes are not sharply defined; and (b) the elements of classes are grouped into granules, with a granule being a clump of elements drawn together by indistinguishability, similarity. proximity or functionality. F-granularity of perceptions may be viewed as a human way of achieving data compression. In large measure, scientific progress has been, and continues to be, driven by a quest to progress from perceptions to measurements. Pursuit of this aim has led to brilliant successes. But alongside the successes stand problems whose solutions are not in sight. Representative of such problems is the problem of automation of driving in city traffic. In this case, as in many others, what can be done with ease by humans - without any measurements and a computations - is an intractable task for machines.
Comparative measurement of visual stability in Earth and cosmic space (L-4)
The frequency and the intensity of space motion sickness was reviewed and investigated. Unusual induced-gravity situations, such as rotation, linear acceleration, parallel swinging etc. were investigated as well. Visually-induced motion sensation or distorted perception were evaluated with respect to visual stability by many investigators. These studies are all concerned with the effect of gravity and the induction of motion sickness through human visual perception. Direct investigation under the microgravity situation, such as parabolic flight, Skylab, and Spacelab, was carried out. These studies focused on how human visual stability is established through various sensory afferents in specific gravity conditions. Results from these investigations indicate that sensory mismatch probably plays an important role in space motion sickness. The interaction of visual, vestibular, and somatosensory perception is smoothly coordinated under normal gravitational conditions on the Earth in our daily life. When the cooperation is destroyed or a mismatch occurs among them, motion sickness may develop not only on the Earth but also in microgravity. The latter case may be the cause of space motion sickness or space adaption syndrome. How human beings obtain visual stability even with posture changes on the ground was investigated. Visual stability can be categorized as static or dynamic. Static visual stability is concerned with orientation and dynamic stability is concerned with object motion perception. The perception of visual stability is modified by many other sensations, such as somatosensory, vestibular, and muscle tension. We will mainly focus on modifications by vestibular inputs to visual perception produced by eye movements in microgravity. The Vestibular-Oscular Reflex (VOR) is a well-known characteristic which results from the relationship between eye mobility and vestibular afferent inputs. Eye movements also modify dynamic visual perception, such as perceived object motion velocity. The VOR is constantly simulated under 1-g conditions on Earth. In fact, human beings have been habituated and 'programmed' for orientation (visual stability) in their everyday, 1-g environment. When humans are exposed to a different gravity situation, this programmed behavior must change; that is, it is reprogrammed. This is called habituation or familiarization. We hope to examine how object motion perception is perturbed and subsequently adapted in the microgravity environment. This experiment is focused on the cooperation of visual, vestibular, and somatosensory perception coordination and how it is changed or reduced in space compared to 1-g environment. We will obtain information on the coordination between eye movement and neck muscle activity by using EOG and EMG. We will also collect data from Payload Specialists using a self-diagnostic questionnaire concerned with perceptual abnormality. When each sensory input function and its integration in the higher nervous system are well-characterized, then more effective techniques to control SAS may be developed.
I Asked 30,000 People in the Nuclear Industry About Safety Culture; This is What I Learned - 19204
Organizations in the nuclear industry place a high value on maintaining the safety of the workforce and community. Some of these organizations do a better job than others when it comes to developing and sustaining a healthy safety culture. We spent six years studying nuclear organizations to better understand the factors that influence safety culture. We used mixed methods to evaluate perceptions of safety culture in these organizations including administering a valid and reliable safety culture survey, conducting one-on-one interviews with managers, and facilitating focus groups with members of the workforce. We analyzed the quantitative and qualitative data collected from more than 30,000 workers in U.S. based organizations. All of the organizations had a nuclear component to their operations. They operated nuclear reactors, processed nuclear materials, decontaminated and decommissioned buildings with radiological contamination, cleaned-up hazardous/mixed waste, and conducted basic science research and development. We talked to craft workers, technicians, engineers, scientific professionals, support personnel, production workers, supervisors and managers. We conducted extensive statistical analysis and learned that, with rare exception, there is a gap between the perceptions of managers and the workforce that they manage. Managers almost always have a more positive perception of safety culture than the people that are actually performing the work. It is not a question of whether there will be a gap; it is simply a matter of the magnitude of the gap. We also learned through exploratory factor analysis that there is one dominant factor that accounted for almost all (75%) of the variance in the perceptions of safety culture. It was the behavior of the leaders, the decisions they made, and the systems they implemented that most influenced the workforce's perception of safety culture. Personal accountability for safety accounted for 14% of the variance, communication and reporting accounted for another 6%. Everything else accounted for the remaining 5%. Management systems, decision making and behavior is the dominant factor and managers almost always have a more positive perception than the people that work for them. People that work in organizations where management exhibits positive decision-making and safety-related behaviors tend to have more positive perceptions of safety culture. Based upon these results, we developed a theory that there were a few important factors on which management could focus on if they sought to influence the safety culture in their organization. Our experience and research suggests that management often fails to recognize five root causes of employee discontent. Employees seek: - To be recognized as an individual; - To be respected; - A sense of stability; - Fairness; - To make a difference. Understanding the perceptions of the workforce is critical because perceptions influence attitudes, which contribute to behaviors that determine individual performance. An organisation's performance is simply the sum of the performance of all of the members of that organization. To change an organisation's safety culture, interventions should target management behavior and decision making for the greatest return on investment. (authors)
Models of Speed Discrimination
The prime purpose of this project was to investigate various theoretical issues concerning the integration of information across visual space. To date, most of the research efforts in the study of the visual system seem to have been focused in two almost non-overlaping directions. One research focus has been the low level perception as studied by psychophysics. The other focus has been the study of high level vision exemplified by the study of object perception. Most of the effort in psychophysics has been devoted to the search for the fundamental "features" of perception. The general idea is that the most peripheral processes of the visual system decompose the input into features that are then used for classification and recognition. The experimental and theoretical focus has been on finding and describing these analyzers that decompose images into useful components. Various models are then compared to the physiological measurements performed on neurons in the sensory systems. In the study of higher level perception, the work has been focused on the representation of objects and on the connections between various physical effects and object perception. In this category we find the perception of 3D from a variety of physical measurements including motion, shading and other physical phenomena. With few exceptions, there seem to be very limited development of theories describing how the visual system might combine the output of the analyzers to form the representation of visual objects. Therefore, the processes underlying the integration of information over space represent critical aspects of vision system. The understanding of these processes will have implications on our expectations for the underlying physiological mechanisms, as well as for our models of the internal representation for visual percepts. In this project, we explored several mechanisms related to spatial summation, attention, and eye movements. The project comprised three components: 1. Modeling visual search for the detection of speed deviation. 2. Perception of moving objects. 3. Exploring the role of eye movements in various visual tasks.
The Sensor Dilemma in Intelligent Transportation Systems
Intelligent Transportation Systems (ITS) are at the forefront in advancing the way we interact and perceive with the transportation network. This revolution is fueled by the significant advancement in sensor perception technologies such as Radar, LiDAR and Video Imaging which are the most popular modalities for ITS. Real-time perception data from these sensors allows intelligent infrastructure side decision making to improve the energy, efficiency and safety at traffic intersections. As traffic departments across the United States are transitioning from traditional loop detectors / emulators and embracing newer technologies, they are often left with a dilemma in choosing a sensor technology for infrastructure-based perception which is reliable, inexpensive, easy to setup and has robust performance in varying weather conditions. However, choosing a sensor which checks all boxes is not straightforward as every sensor type has unique benefits and drawbacks. Radar is excellent at detecting long range vehicles and weather resistance but lacks high resolution. LiDAR is expensive and weather-sensitive, while cameras provide rich visual data at a low cost but are constrained by lighting and visibility. This study examines Radar, LiDAR and camera sensors capabilities to ascertain whether any of these qualifies as the "best" sensor for ITS perception. Through this evaluation, we hope to draw attention to the necessity of National Renewable Energy Laboratory's (NREL) Infrastructure Perception and Control (IPC) framework which presents a multi-sensor track data fusion engine to assimilate multiple data streams in order to provide robust and reliable perception. While no single sensor can meet all the demands of ITS, a hybrid approach combining multiple sensor modalities like Radar, LiDAR and cameras, offers the most robust solution for enhancing the safety and efficiency in intelligent transportation systems.
SolarSMART 2020 Georgia Survey
The SolarSMART 2020 Georgia Survey dataset provides results from a survey of 1,544 residents of the State of Georgia above the age of 18 on their perceptions of photovoltaic solar energy. The survey includes the following: demographic information for each respondent, their location in the state (by ZIP Code); the type of house they reside within; whether they have or have not adopted solar energy (and if so, how did they adopt solar energy); their personal views and perceptions of solar energy both for themselves and within their community; and their perceptions of who within Georgia and across the United States would or would not be inclined to adopt solar. Respondents were asked to provide their responses to questions addressing the following issues as they pertained to both themselves and their perceptions of others (Georgians and Americans writ large): (a) perception of how home type shape solar adoption; (b) perceptions of personal values (interpersonal, political, environmental); (c) the design of solar and the marketing of it; (d) financial dimensions of adopting solar energy; (d) and favorability towards new technologies. This data was collected via an online survey through a third-party distributor between June and September of 2020. Respondents were from 151 of the 159 counties of the State of Georgia, with representation of both urban and rural residents. In total, the dataset includes 171 variables, with one being an open-ended question coded by the research team. Variables include demographic characteristics (personal, housing, location), multiple-choice single answer, ranked-choice responses to different statements about solar, and a series of two digital map exercises where respondents highlighted geographic regions (states or parts of Georgia) based on whether the believe residents there do, do not, or they do not know if the respondents do or do not adopt solar.
The Sensor Dilemma in Intelligent Transportation Systems: Evaluating Radar, Lidar and Camera: Preprint
Intelligent transportation systems (ITS) are at the forefront in advancing the way we interact with and perceive the transportation network. This revolution is fueled by the significant advancement in sensor perception technologies such as radar, lidar, and video imaging, which are the most popular modalities for ITS. Real-time perception data from these sensors allow intelligent infrastructure-side decision-making to improve the energy, efficiency, and safety at traffic intersections. As traffic departments across the United States transition from traditional loop detectors and emulators and embrace newer technologies, they are often left with a dilemma in choosing a sensor technology for infrastructure-based perception that is reliable, inexpensive, and easy to set up and that has robust performance in varying weather conditions. However, choosing a sensor that checks all these boxes is not straightforward, as every sensor type has unique benefits and drawbacks. Radar is excellent at detecting long-range vehicles and weather resistance but lacks high resolution. Lidar is expensive and weather-sensitive, while cameras provide rich visual data at a low cost but are constrained by lighting and visibility. This study examines radar, lidar, and camera sensor capabilities to ascertain whether any of these qualifies as the "best" sensor for ITS perception. While no single sensor can meet all the demands of ITS, a hybrid approach combining multiple sensor modalities like radar, lidar, and cameras offers the most robust solution for enhancing the safety and efficiency of ITS. Through this evaluation, we hope to draw attention to the necessity of the National Renewable Energy Laboratory's infrastructure perception and control framework, which presents a multisensor track data fusion engine to assimilate multiple data streams in order to provide robust and reliable perception.
Optical Extinction Measurements of Dust Density in the GMRO Regolith Test Bin
A regolith simulant test bin was constructed and completed in the Granular Mechanics and Regolith Operations (GMRO) Lab in 2013. This Planetary Regolith Test Bed (PRTB) is a 64 sq m x 1 m deep test bin, is housed in a climate-controlled facility, and contains 120 MT of lunar-regolith simulant, called Black Point-1 or BP-1, from Black Point, AZ. One of the current uses of the test bin is to study the effects of difficult lighting and dust conditions on Telerobotic Perception Systems to better assess and refine regolith operations for asteroid, Mars and polar lunar missions. Low illumination and low angle of incidence lighting pose significant problems to computer vision and human perception. Levitated dust on Asteroids interferes with imaging and degrades depth perception. Dust Storms on Mars pose a significant problem. Due to these factors, the likely performance of telerobotics is poorly understood for future missions. Current space telerobotic systems are only operated in bright lighting and dust-free conditions. This technology development testing will identify: (1) the impact of degraded lighting and environmental dust on computer vision and operator perception, (2) potential methods and procedures for mitigating these impacts, (3) requirements for telerobotic perception systems for asteroid capture, Mars dust storms and lunar regolith ISRU missions. In order to solve some of the Telerobotic Perception system problems, a plume erosion sensor (PES) was developed in the Lunar Regolith Simulant Bin (LRSB), containing 2 MT of JSC-1a lunar simulant. PES is simply a laser and digital camera with a white target. Two modes of operation have been investigated: (1) single laser spot - the brightness of the spot is dependent on the optical extinction due to dust and is thus an indirect measure of particle number density, and (2) side-scatter - the camera images the laser from the side, showing beam entrance into the dust cloud and the boundary between dust and void. Both methods must assume a mean particle size in order to extract a number density. The optical extinction measurement yields the product of the 2nd moment of the particle size distribution and the extinction efficiency Qe. For particle sizes in the range of interest (greater than 1 micrometer), Qe approximately equal to 2. Scaling up of the PES single laser and camera system is underway in the PRTB, where an array of lasers penetrate a con-trolled dust cloud, illuminating multiple targets. Using high speed HD GoPro video cameras, the evolution of the dust cloud and particle size density can be studied in detail.
Accuracy of System Step Response Roll Magnitude Estimation from Central and Peripheral Visual Displays and Simulator Cockpit Motion
An experiment to investigate visual roll attitude and roll rate perception is described. The experiment was also designed to assess the improvements of perception due to cockpit motion. After the onset of the motion, subjects were to make accurate and quick estimates of the final magnitude of the roll angle step response by pressing the appropriate button of a keyboard device. The differing time-histories of roll angle, roll rate and roll acceleration caused by a step response stimulate the different perception processes related the central visual field, peripheral visual field and vestibular organs in different, yet exactly known ways. Experiments with either of the visual displays or cockpit motion and some combinations of these were run to asses the roles of the different perception processes. Results show that the differences in response time are much more pronounced than the differences in perception accuracy.