A New Approach to Unwanted-Object Detection in GNSS/LiDAR-Based Navigation.

In this paper, we develop new methods to assess safety risks of an integrated GNSS/LiDAR navigation system for highly automated vehicle (HAV) applications. LiDAR navigation requires feature extraction (FE) and data association (DA). In prior work, we established an FE and DA risk prediction algorithm assuming that the set of extracted features matched the set of mapped landmarks. This paper addresses these limiting assumptions by incorporating a Kalman filter innovation-based test to detect unwanted object (UO). UO include unmapped, moving, and wrongly excluded landmarks. An integrity risk bound is derived to account for the risk of not detecting UO. Direct simulations and preliminary testing help quantify the impact on integrity and continuity of UO monitoring in an example GNSS/LiDAR implementation.

The incident command system in disasters: evaluation methods for a hospital-based exercise.

OBJECTIVES: No universally accepted methods for objective evaluation of the function of the Incident Command System (ICS) in disaster exercises currently exist. An ICS evaluation method for disaster simulations was derived and piloted. METHODS: A comprehensive variable list for ICS function was created and four distinct ICS evaluation methods (quantitative and qualitative) were derived and piloted prospectively during an exercise. Delay times for key provider-victim interactions were recorded through a system of data collection using participant- and observer-based instruments. Two different post-exercise surveys (commanders, other participants) were used to assess knowledge and perceptions of assigned roles, organization, and communications. Direct observation by trained observers and a structured debriefing session also were employed. RESULTS: A total of 45 volunteers participated in the exercise that included 20 mock victims. First, mean, and last victim delay times (from exercise initiation) were 2.1, 4.0, and 9.3 minutes (min) until triage, and 5.2, 11.9, and 22.0 min for scene evacuation, respectively. First, mean, and last victim delay times to definitive treatment were 6.0, 14.5, and 25.0 min. Mean time to triage (and range) for scene Zones I (nearest entrance), II (intermediate) and III (ground zero) were 2.9 (2.0-4.0), 4.1 (3.0-5.0) and 5.2 (3.0-9.0) min, respectively. The lowest acuity level (Green) victims had the shortest mean times for triage (3.5 min), evacuation (4.0 min), and treatment (10.0 min) while the highest acuity level (Red) victims had the longest mean times for all measures; patterns consistent with independent rather than ICS-directed rescuer activities. Specific ICS problem areas were identified. CONCLUSIONS: A structured, objective, quantitative evaluation of ICS function can identify deficiencies that can become the focus for subsequent improvement efforts.