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This thesis concerns the potential use of auditory virtual reality (A VR) in safety-critical situations. Localization accuracy is essential in many VR situations, such as simulated cockpits, where vision is fully occupied and targets must be signified acoustically. However, the errors reported for localizing 3D sounds varies considerably in the literature and some (e.g. Wightman & Kistler, 1989; Wenzel et aI, 1993) report fairly large errors. This thesis consists of an evaluation of the use of acoustic cues to indicate the location of certain targets. A Knowles Electronic Manikin for Acoustic Research (KEMAR) was used to examine the effects of individualized pinnae on localization accuracy. The results showed that using our own pinnae over foreign pinnae provides little or no benefit. More surprisingly, substantial errors were observed in this study. This initial result drove the fundamental investigation into the large angle errors. The method of eliciting subject responses was investigated. The findings established response method as an important methodological feature in localization experiments from the significant effect it has on the results. Error values can be halved when using a categorical method, compared to an unguided (non-categorical) method, possibly because it constrains the subjects' response options. A further possible constraint on subject responses is the effect of memory in absolute judgement tasks. If the memory of one sound impinges on subsequent sounds then the subject's judgement is constrained and the measurement of error may be contaminated. This effect was studied by introducing variable delays that should affect memory .(0 a different extent. No obvious differences in accuracy were noted. This rules out 'interstimulus interval' as a cause for the variability of reported angle errors. Stimulus types were varied in an effort to maximise acuity. Although broadband sounds are purported to give the smallest errors (e.g. Stevens & Newman, 1936; Sandel et aI, 1955), this investigation offered a unique comparison of long and shortduration broadband and complex sounds. But consistently high angle errors forced the inclusions of non-acoustic cues such as vision and head movements, which decreased the error to between 0° and 7°. III The implicatioos for VR in light of the importance of vision (demonstrated by this work), are that it is 'not advisable to implement an auditory cueing system that may conflict or fail to be guided by vision. Where high levels of accuracy are required, as is paramount in safety-criticalsituations, auditory localizatioo is not sufficient as a sole cue to target location. Scientific conclusion: The acoustic cues alone (independent of context) cannot support accurate auditory localization. Applications conclusion: It is not advisable to implement an auditory cueing system that is not guided by vision.

Since most people now have a high-performing computing device with an attached camera in their pocket, in the form of a smartphone, robotics and computer vision researchers are thrilled about the possibility this creates. Such devices have previously been used in robotics to create 3D maps of environments and objects by feeding the camera data to a 3D reconstruction algorithm. The big downside with smartphones is that their cameras use a different sensor than what is usually used in robotics, namely a rolling shutter camera.These cameras are cheaper to produce but are not as well suited for general 3D reconstruction algorithms as the global shutter cameras typically used in robotics research. One recent, accurate and performance effective 3D reconstruction method which could be used on a mobile device, if tweaked, is LSD-SLAM. This thesis uses the LSD-SLAM method developed for global shutter cameras and incorporates additional methods developed allow the usage of rolling shutter data.The developed method is evaluated by calculating numbers of failed 3D reconstructions before a successful one is obtained when using rolling shutter data.The result is a method which improves this metric with about 70\% compared to the unedited LSD-SLAM method.

La presente tesis tiene por finalidad verificar las condiciones de seguridad en el diseño de curvas horizontales de vía utilizando esta herramienta de vanguardia de Autodesk: Vehicle Tracking y AutoCAD Civil 3D versión 2015 en la cual se ha utilizado los parámetros de la norma peruana vigente (DG-2013) publicada por el MTC (Ministerio de Transportes y Comunicaciones). Este software nos permite simular las maniobras de giro de vehículos en proyectos de ingeniería civil y de transporte. Esencial para un diseño preciso y rentable de intersecciones, glorietas, terminales de transporte y áreas de carga y descarga, es un activo para cualquier proyecto que involucre el diseño de accesos de vehículos, gálibos (Marca o luces que señala las dimensiones máximas permitidas a un vehículo para el paso por un túnel o un puente) y maniobrabilidad. Para la explicación de esta tesis se han elegido tres casos para las simulaciones uno de ellos consta parte del proyecto ejecutado del Plan Binacional de Desarrollo de la Región Fronteriza Perú – Ecuador cuya ejecución fue prevista en un periodo de 12 años (2000-2009). Entre estos destacan cinco ejes viales binacionales que tienen por objetivos conformar una red de conexión de la zona fronteriza común en este caso se ha elegido el mejoramiento y Rehabilitación de la carretera Sullana – El Alamor eje vial N°02 de la interconexión vial Perú – Ecuador. El siguiente caso se refiere al Ovalo Gutiérrez también conocido como rotonda, glorieta o redondela es una intersección de carreteras (rutas), avenidas o calles que se confluyen están conectadas entre sí mediante un anillo. Estas minimizan el riesgo de accidente ya que fuerzan a reducir la velocidad El tercer caso se refiere a las intersecciones urbanas ofrecen un potencial de investigación en diseño geométrico de vías. En los últimos años, la demanda vial ha crecido por el aumento del número de vehículos automotores, se puede decir que la oferta es bastante inferior a la demanda de tránsito. Esto ha traído como consecuencia incrementos en la congestión, demoras, accidentes y problemas ambientales, bastante mayores que los considerados aceptables. Contamos con la capacidad, la topografía, los conocimientos, las condiciones de mejorar la vida de la malla vial y también con la necesidad de disponer de un instrumento idóneo para afrontar la solución de la actual problemática. Finalmente como aporte de la tesis verificaremos si los sobreanchos según la norma peruana. Si bien es cierto que la velocidad de diseño que es la máx. velocidad que se puede tomar para permitir garantizar seguridad y comodidad el cual va directamente relacionado con el cálculo y elección del radio mínimo utilizando la tabla 302.02 de la DG-2013.(Ministerio de Transportes y. , Agosto, 2014)