Moving towards autonomy, unmanned vehicles rely heavily on state-of-the-art collision avoidance systems (CAS). A lot of work is being done to make the CAS as safe and reliable as possible, necessitating a comparative study of the recent work in this important area. The paper provides a comprehensive review of collision avoidance strategies used for unmanned vehicles, with the main emphasis on unmanned aerial vehicles (UAV). It is an in-depth survey of different collision avoidance techniques that are categorically explained along with a comparative analysis of the considered approaches w.r.t. different scenarios and technical aspects. This also includes a discussion on the use of different types of sensors for collision avoidance in the context of UAVs. INDEX TERMS autonomous aerial vehicles, autonomous vehicles, collision avoidance, active and passive sensors, optimisation-based, force-field based, sense and avoid, geometry based

The development of a navigation system is one of the major challenges in building a fully autonomous platform. Full autonomy requires a dependable navigation capability not only in a perfect situation with clear GPS signals but also in situations, where the GPS is unreliable. Therefore, selfcontained odometry systems have attracted much attention recently. This paper provides a general and comprehensive overview of the state of the art in the field of self-contained, i.e., GPS denied odometry systems, and identifies the out-coming challenges that demand further research in future. Self-contained odometry methods are categorized into five main types, i.e., wheel, inertial, laser, radar, and visual, where such categorization is based on the type of the sensor data being used for the odometry. Most of the research in the field is focused on analyzing the sensor data exhaustively or partially to extract the vehicle pose. Different combinations and fusions of sensor data in a tightly/loosely coupled manner and with filtering or optimizing fusion method have been investigated. We analyze the advantages and weaknesses of each approach in terms of different evaluation metrics, such as performance, response time, energy efficiency, and accuracy, which can be a useful guideline for researchers and engineers in the field. In the end, some future research challenges in the field are discussed.

Abstract-Electroencephalograph

In machine learning one often assumes the data are independent when evaluating model performance. However, this rarely holds in practise. Geographic information data sets are an example where the data points have stronger dependencies among each other the closer they are geographically. This phenomenon known as spatial autocorrelation (SAC) causes the standard cross validation (CV) methods to produce optimistically biased prediction performance estimates for spatial models, which can result in increased costs and accidents in practical applications. To overcome this problem we propose a modified version of the CV method called spatial k-fold cross validation (SKCV), which provides a useful estimate for model prediction performance without optimistic bias due to SAC. We test SKCV with three real world cases involving open natural data showing that the estimates produced by the ordinary CV are up to 40% more optimistic than those of SKCV. Both regression and classification cases are considered in our experiments. In addition, we will show how the SKCV method can be applied as a criterion for selecting data sampling density for new research area.

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BackgroundLow-density lipoprotein (LDL) particles, the major carriers of cholesterol in the human circulation, have a key role in cholesterol physiology and in the development of atherosclerosis. The most prominent structural components in LDL are the core-forming cholesteryl esters (CE) and the particle-encircling single copy of a huge, non-exchangeable protein, the apolipoprotein B-100 (apoB-100). The shape of native LDL particles and the conformation of native apoB-100 on the particles remain incompletely characterized at the physiological human body temperature (37°C).Methodology/Principal FindingsTo study native LDL particles, we applied cryo-electron microscopy to calculate 3D reconstructions of LDL particles in their hydrated state. Images of the particles vitrified at 6°C and 37°C resulted in reconstructions at ∼16 Å resolution at both temperatures. 3D variance map analysis revealed rigid and flexible domains of lipids and apoB-100 at both temperatures. The reconstructions showed less variability at 6°C than at 37°C, which reflected increased order of the core CE molecules, rather than decreased mobility of the apoB-100. Compact molecular packing of the core and order in a lipid-binding domain of apoB-100 were observed at 6°C, but not at 37°C. At 37°C we were able to highlight features in the LDL particles that are not clearly separable in 3D maps at 6°C. Segmentation of apoB-100 density, fitting of lipovitellin X-ray structure, and antibody mapping, jointly revealed the approximate locations of the individual domains of apoB-100 on the surface of native LDL particles.Conclusions/SignificanceOur study provides molecular background for further understanding of the link between structure and function of native LDL particles at physiological body temperature.

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