Query: Vehicle Velocity Observer Design Using 6-D IMU and Multiple-Observer Approach

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Interacting Multiple Model Filter-Based Sensor Fusion of GPS With In-Vehicle Sensors for Real-Time Vehicle Positioning <=SEP=> Vehicle position estimation for intelligent vehicles requires not only highly accurate position information but reliable and continuous information provision as well. A low-cost Global Positioning System (GPS) receiver has widely been used for conventional automotive applications, but it does not guarantee accuracy, reliability, or continuity of position data when GPS errors occur. To mitigate GPS errors, numerous Bayesian filters based on sensor fusion algorithms have been studied. The estimation performance of Bayesian filters primarily relies on the choice of process model. For this reason, the change in vehicle dynamics with driving conditions should be addressed in the process model of the Bayesian filters. This paper presents a positioning algorithm based on an interacting multiple model (IMM) filter that integrates low-cost GPS and in-vehicle sensors to adapt the vehicle model to various driving conditions. The model set of the IMM filter is composed of a kinematic vehicle model and a dynamic vehicle model. The algorithm developed in this paper is verified via intensive simulation and evaluated through experimentation with a real-time embedded system. Experimental results show that the performance of the positioning system is accurate and reliable under a wide range of driving conditions.

High-Integrity IMM-EKF-Based Road Vehicle Navigation With Low-Cost GPS/SBAS/INS <=SEP=> User requirements for the performance of Global Navigation Satellite System (GNSS)-based road applications have been significantly increasing in recent years. Safety systems based on vehicle localization, electronic fee-collection systems, and traveler information services are just a few examples of interesting applications requiring onboard equipment (OBE) capable of offering a high available accurate position, even in unfriendly environments with low satellite visibility such as built-up areas or tunnels and at low cost. In addition to that, users and service providers demand from the OBEs not only accurate continuous positioning but integrity information of the reliability of this position as well. Specifically, in life-critical applications, high-integrity monitored positioning is absolutely required. This paper presents a solution based on the fusion of GNSS and inertial sensors (a Global Positioning System/satellite-based augmentation system/inertial navigation system integrated system) running an extended Kalman filter combined with an interactive multimodel method (IMM-EKF). The solution developed in this paper supplies continuous positioning in marketable conditions and a meaningful trust level of the given solution. A set of tests performed in controlled and real scenarios proves the suitability of the proposed IMM-EKF implementation as compared with low-cost GNSS-based solutions, dead reckoning systems, single-model EKF, and other filtering approaches of the current literature.

Lane-Level Integrity Provision for Navigation and Map Matching With GNSS, Dead Reckoning, and Enhanced Maps <=SEP=> Lane-level positioning and map matching are some of the biggest challenges for navigation systems. Additionally, in safety applications or in those with critical performance requirements (such as satellite-based electronic fee collection), integrity becomes a key word for the navigation community. In this scenario, it is clear that a navigation system that can operate at the lane level while providing integrity parameters that are capable of monitoring the quality of the solution can bring important benefits to these applications. This paper presents a pioneering novel solution to the problem of combined positioning and map matching with integrity provision at the lane level. The system under consideration hybridizes measurements from a global navigation satellite system (GNSS) receiver, an odometer, and a gyroscope, along with the road information stored in enhanced digital maps, by means of a multiple-hypothesis particle-filter-based algorithm. A set of experiments in real environments in France and Germany shows the very good results obtained in terms of positioning, map matching, and integrity consistency, proving the feasibility of our proposal.

IMM object tracking for high dynamic driving maneuvers <=SEP=> Classical object tracking approaches use a Kalman-filter with a single dynamic model which is therefore optimised to a single driving maneuver. In contrast the interacting multiple model (IMM) filter allows for several parallel models which are combined to a weighted estimate. Choosing models for different driving modes, such as constant speed, acceleration and strong acceleration changes, the object state estimation can be optimised for highly dynamic driving maneuvers. The paper describes the analysis of Stop&Go situations and the systematic parametrisation of the IMM method based on these statistics. The evaluation of the IMM approach is presented based on real sensor measurements of laser scanners, a radar and a video image processing unit.

Overview of the Lucy Project: Dynamic Stabilization of a Biped Powered by Pneumatic Artificial Muscles <=SEP=> This paper gives an overview of the Lucy project. What is special is that the biped is not actuated with the classical electrical drives, but with pleated pneumatic artificial muscles. In an antagonistic setup of such muscles both the torque and the compliance are controllable. From human walking there is evidence that joint compliance plays an important role in energy-efficient walking and running. To be able to walk at different walking speeds and step lengths, a trajectory generator and joint trajectory tracking controller are combined. The first generates dynamically stable trajectories based on the objective locomotion parameters which can be changed from step to step. The joint trajectory tracking unit controls the pressure inside the muscles so the desired motion is followed. It is based on a computed torque model and takes the torque– angle relation of the antagonistic muscle setup into account. With this strategy the robot is able to walk at a speed up to 0.15 m/s. A compliance controller is developed to reduce the energy consumption by combining active trajectory control with the exploitation of the natural dynamics. A mathematical formulation was developed to find an optimal compliance setting depending on the desired trajectory and physical properties of the system. This strategy is experimentally evaluated on a single pendulum structure and not implemented on the real robot because the walking speed of the robot is currently too slow. At the end a discussion is given about the pros and cons of building a pneumatic biped, and the control architecture used. © Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2008

DeepTag: inferring diagnoses from veterinary clinical notes <=SEP=> Large scale veterinary clinical records can become a powerful resource for patient care and research. However, clinicians lack the time and resource to annotate patient records with standard medical diagnostic codes and most veterinary visits are captured in free-text notes. The lack of standard coding makes it challenging to use the clinical data to improve patient care. It is also a major impediment to cross-species translational research, which relies on the ability to accurately identify patient cohorts with specific diagnostic criteria in humans and animals. In order to reduce the coding burden for veterinary clinical practice and aid translational research, we have developed a deep learning algorithm, DeepTag, which automatically infers diagnostic codes from veterinary free-text notes. DeepTag is trained on a newly curated dataset of 112,558 veterinary notes manually annotated by experts. DeepTag extends multitask LSTM with an improved hierarchical objective that captures the semantic structures between diseases. To foster human-machine collaboration, DeepTag also learns to abstain in examples when it is uncertain and defers them to human experts, resulting in improved performance. DeepTag accurately infers disease codes from free-text even in challenging cross-hospital settings where the text comes from different clinical settings than the ones used for training. It enables automated disease annotation across a broad range of clinical diagnoses with minimal preprocessing. The technical framework in this work can be applied in other medical domains that currently lack medical coding resources.

Multi-Objective Resource Allocation for Secure Communication in Cognitive Radio Networks with Wireless Information and Power Transfer <=SEP=> In this paper, we study resource allocation for multiuser multiple-input single-output (MISO) secondary communication systems with multiple system design objectives. We consider cognitive radio (CR) networks where the secondary receivers are able to harvest energy from the radio frequency when they are idle. The secondary system provides simultaneous wireless power and secure information transfer to the secondary receivers. We propose a multi-objective optimization framework for the design of a Pareto optimal resource allocation algorithm based on the weighted Tchebycheff approach. In particular, the algorithm design incorporates three important system design objectives: total transmit power minimization, energy harvesting efficiency maximization, and interference power leakage-totransmit power ratio minimization. The proposed framework takes into account a quality of service (QoS) requirement regarding communication secrecy in the secondary system and the imperfection of the channel state information (CSI) of potential eavesdroppers (idle secondary receivers and primary receivers) at the secondary transmitter. The proposed framework includes total harvested power maximization and interference power leakage minimization as special cases. The adopted multiobjective optimization problem is non-convex and is recast as a convex optimization problem via semidefinite programming (SDP) relaxation. It is shown that the global optimal solution of the original problem can be constructed by exploiting both the primal and the dual optimal solutions of the SDP relaxed problem. Besides, two suboptimal resource allocation schemes for the case when the solution of the dual problem is unavailable for constructing the optimal solution are proposed. Numerical results not only demonstrate the close-to-optimal performance of the proposed suboptimal schemes, but also unveil an interesting trade-off between the considered conflicting system design objectives.

Latent Discriminant Analysis with Representative Feature Discovery <=SEP=> Linear Discriminant Analysis (LDA) is a well-known method for dimension reduction and classification with focus on discriminative feature selection. However, how to discover discriminative as well as representative features in LDA model has not been explored. In this paper, we propose a latent Fisher discriminant model with representative feature discovery in an semi-supervised manner. Specifically, our model leverages advantages of both discriminative and generative models by generalizing LDA with data-driven prior over the latent variables. Thus, our method combines multi-class, latent variables and dimension reduction in an unified Bayesian framework. We test our method on MUSK and Corel datasets and yield competitive results compared to baselines. We also demonstrate its capacity on the challenging TRECVID MED11 dataset for semantic keyframe extraction and conduct a human-factors ranking-based experimental evaluation, which clearly demonstrates our proposed method consistently extracts more semantically meaningful keyframes than chal-

Approximate Orthogonal Sparse Embedding for Dimensionality Reduction <=SEP=> Locally linear embedding (LLE) is one of the most well-known manifold learning methods. As the representative linear extension of LLE, orthogonal neighborhood preserving projection (ONPP) has attracted widespread attention in the field of dimensionality reduction. In this paper, a unified sparse learning framework is proposed by introducing the sparsity or L1 -norm learning, which further extends the LLE-based methods to sparse cases. Theoretical connections between the ONPP and the proposed sparse linear embedding are discovered. The optimal sparse embeddings derived from the proposed framework can be computed by iterating the modified elastic net and singular value decomposition. We also show that the proposed model can be viewed as a general model for sparse linear and nonlinear (kernel) subspace learning. Based on this general model, sparse kernel embedding is also proposed for nonlinear sparse feature extraction. Extensive experiments on five databases demonstrate that the proposed sparse learning framework performs better than the existing subspace learning algorithm, particularly in the cases of small sample sizes.

Piccolo: An Ultra-Lightweight Blockcipher <=SEP=> We propose a new 64-bit blockcipher Piccolo supporting 80 and 128-bit keys. Adopting several novel design and implementation techniques, Piccolo achieves both high security and notably compact implementation in hardware. We show that Piccolo offers a sufficient security level against known analyses including recent related-key differential attacks and meet-in-the-middle attacks. In our smallest implementation, the hardware requirements for the 80 and the 128-bit key mode are only 683 and 758 gate equivalents, respectively. Moreover, Piccolo requires only 60 additional gate equivalents to support the decryption function due to its involution structure. Furthermore, its efficiency on the energy consumption which is evaluated by energy per bit is also remarkable. Thus, Piccolo is one of the competitive ultra-lightweight blockciphers which are suitable for extremely constrained environments such as RFID tags and sensor nodes.

A Post-failure Analysis of Mobile Payment Platforms <=SEP=> Despite on-going efforts over the past decade, mobile payments are yet to take off successfully. Repeated failures show that mobile payment platforms are complex to launch. The objective of this paper is to unveil factors explaining the failure of past mobile payment platforms. The use of a multi-level framework aims at enriching the variety of issues investigated. In order to explore the reasons of failure, we selected four cases from different countries happening at different times. Our results show that these cases share many of the same failure factors: lack of collaboration between the stakeholders, no technology standard, and low value-added for consumers and merchants compared to existing payment solutions. Even though the list is not exhaustive, the uncovered factors in our study seem to be necessary (but not sufficient) for the further developments of mobile payment platforms.

Multi-dimensional pattern discovery in financial time series using sax-ga with extended robustness <=SEP=> This paper proposes a new Multi-Dimensional SAX-GA approach to pattern discovery using genetic algorithms (GA). The approach is capable of discovering patterns in multi-dimensional financial time series. First, the several dimensions of data are converted to a Symbolic Aggregate approXimation (SAX) representation, which is, then, feed to a GA optimization kernel. The GA searches for profitable patterns occurring simultaneously in the multi-dimensional time series. Based on the patterns found, the GA produces more robust investment strategies, since the simultaneity of patterns on different dimensions of the data, reinforces the strength of the trading decisions implemented. The proposed approach was tested using stocks from S&P500 index, and is compared to previous reference works of SAX-GA and to the Buy & Hold (B&H) classic investment strategy.

A survey on human activity recognition from videos <=SEP=> Understanding the activities of human from videos is demanding task in Computer Vision. Identifying the actions being accomplished by the human in the video sequence automatically and tagging their actions is the prime functionality of intelligent video systems. The goal of activity recognition is to identify the actions and objectives of one or more objects from a series of examination on the action of object and their environmental condition. The major applications of Human Activity Recognition varies from Content-based Video Analytics, Robotics, Human-Computer Interaction, Human fall detection, Ambient Intelligence, Visual Surveillance, Video Indexing etc. This paper collectively summarizes and deciphers the various methodologies, challenges and issues of Human Activity Recognition systems. Variants of Human Activity Recognition systems such as Human Object Interactions and Human-Human Interactions are also explored. Various benchmarking datasets and their properties are being explored. The Experimental Evaluation of various papers are analyzed efficiently with the various performance metrics like Precision, Recall, and Accuracy.

Towards Agile Implementation of Test Maturity Model Integration (TMMI) Level 2 using Scrum Practices <=SEP=> The software industry has invested the substantial effort to improve the quality of its products like ISO, CMMI and TMMI. Although applying of TMMI maturity criteria has a positive impact on product quality, test engineering productivity, and cycle-time effort. But it requires heavy software development processes and large investments in terms of cost and time that medium/small companies do not deal with it. At the same time, agile methods deal with changing requirements and continuous delivery of valuable software by short time iterations. So that the aim of this paper is to improve the testing process by applying a detailed mapping between TMMI and Scrum practices and verifying this mapping with a study providing empirical evidence of the obtained results. The research has been evaluated on a sample of 2 large-sized TMMI certified companies. In conclusion, the experimental results show the effectiveness of using this integrated approach compared to other existing approaches. Keywords—Agile software development; Scrum; TMMI; Software Testing; CMMI

An Experimental Study of Genetic Crossover Operators for the Job Shop Scheduling Problem <=SEP=> The aim of this paper is to show the influence of genetic crossover operators on the performance of a genetic algorithm (GA). The GA is applied to the job shop scheduling problem (JSSP). To achieve this aim an experimental study of a set of crossover operators is presented. The experimental study is based on a decision support system (DSS). To compare the abilities of different crossover operators, the DSS was designed giving all the operators the same opportunities. The genetic crossover operators are tested on a set of standard instances taken from the literature. The makespan is the measure used to evaluate the genetic crossover operators. The main conclusion is that there is a crossover operator having the best average performance on a specific set of solved instances. The DSS developed can be utilized in a common industrial or construction environment. Key-Words: Genetic algorithms, crossover operators, scheduling, heuristics, JSSP.

Text mining in healthcare. Applications and opportunities. <=SEP=> Healthcare information systems collect massive amounts of textual and numeric information about patients, visits, prescriptions, physician notes and more. The information encapsulated within electronic clinical records could lead to improved healthcare quality, promotion of clinical and research initiatives, fewer medical errors and lower costs. However, the documents that comprise the health record vary in complexity, length and use of technical vocabulary. This makes knowledge discovery complex. Commercial text mining tools provide a unique opportunity to extract critical information from textual data archives. In this paper, we share our experience of a collaborative research project to develop predictive models by text mining electronic clinical records. We provide an overview of the text mining process, examples of existing studies, experiences of our collaborative project and future opportunities.

Deep Visuo-Tactile Learning: Estimation of Material Properties from Images <=SEP=> Estimation of materials properties, such as softness or roughness from visual perception is an essential factor in deciding our way of interaction with our environment in e.g., object manipulation tasks or walking. In this research, we propose a method for deep visuo-tactile learning in which we train a encoder-decoder network with an intermediate layer in an unsupervised manner with images as input and tactile sequences as output. Materials properties are then represented in the intermediate layer as a continuous feature space and are estimated from image information. Unlike past studies utilizing tactile sensors focusing on classification for object recognition or recognizing material properties, our method does not require manually designing class labels or annotation, does not cause unknown objects to be classified into known discrete classes, and can be used without a tactile sensor after training. To collect data for training, we have attached a uSkin tactile sensor and a camera to the end-effector of a Sawyer robot to stroke surfaces of 21 different material surfaces. Our results after training show that features are indeed expressed continuously, and that our method is able to handle unknown objects in its feature space.

Dynamic modeling and inverse dynamic control of mobile robot <=SEP=> This paper presents a dynamic modeling and control studies of mobile robot. The robot is mainly built all around three wheels and platform. A mathematical model of unicycle mobile robot is determined by kinematic and dynamic model. The dynamic modelling equations are based on Lagrangian formulation. The motion control strategy is based on the inverse of dynamic control. This leads to accurate tracking of trajectory. The goal to reach in this paper is to improve the performances of inverse dynamic control of mobile robot. The validity of the proposed controller is demonstrated by the simulation of two wheels mobile robots case.

A Method for Building Personalized Ontology Summaries <=SEP=> In the context of ontology engineering, the ontology understanding is the basis for its further development and reuse. One intuitive effective approach to support ontology understanding is the process of ontology summarization which highlights the most important concepts of an ontology. Ontology summarization identifies an excerpt from an ontology that contains the most relevant concepts and produces an abridged ontology. In this article, we present a method for summarizing ontologies that represent a data source schema or describe a knowledge domain. We propose an algorithm to produce a personalized ontology summary based on user-defined parameters, e.g. summary size. The relevance of a concept is determined through user indication or centrality measures, commonly used to determine the relative importance of a vertex within a graph. The algorithm searches for the best ontology summary, i.e., the one containing the most relevant ontology concepts respecting all the original relationships between concepts and the parameters set by the user. Experiments were done comparing our generated ontology summaries against golden standard summaries as well as summaries produced by methods available in related work. We achieved in average more than 62.5% of similarity with golden standard summaries.

The Influence of Information Overload on the Development of Trust and Purchase Intention Based on Online Product Reviews in a Mobile vs . Web Environment : A Research Proposal <=SEP=> Information overload has been studied extensively by decision science researchers, particularly in the context of task-based optimization decisions. Media selection research has similarly investigated the extent to which task characteristics influence media choice and use. This paper outlines a proposed study, which would compare the effectiveness of web-based online product review systems in facilitation trust and purchase intention to those of mobile product review systems. We propose that since web-based systems are more effective in fostering focus and are less prone to navigation frustration, information overload is less likely influence the extent to which a consumer trusts an online product review.

Systematic Review of Clustering High-Dimensional and Large Datasets <=SEP=> Technological advancement has enabled us to store and process huge amount of data in relatively short spans of time. The nature of data is rapidly changing, particularly its dimensionality is more commonly multi- and high-dimensional. There is an immediate need to expand our focus to include analysis of high-dimensional and large datasets. Data analysis is becoming a mammoth task, due to incremental increase in data volume and complexity in terms of heterogony of data. It is due to this dynamic computing environment that the existing techniques either need to be modified or discarded to handle new data in multiple high-dimensions. Data clustering is a tool that is used in many disciplines, including data mining, so that meaningful knowledge can be extracted from seemingly unstructured data. The aim of this article is to understand the problem of clustering and various approaches addressing this problem. This article discusses the process of clustering from both microviews (data treating) and macroviews (overall clustering process). Different distance and similarity measures, which form the cornerstone of effective data clustering, are also identified. Further, an in-depth analysis of different clustering approaches focused on data mining, dealing with large-scale datasets is given. These approaches are comprehensively compared to bring out a clear differentiation among them. This article also surveys the problem of high-dimensional data and the existing approaches, that makes it more relevant. It also explores the latest trends in cluster analysis, and the real-life applications of this concept. This survey is exhaustive as it tries to cover all the aspects of clustering in the field of data mining.

Scalable Distributed Stream Processing <=SEP=> Many stream-based applications are naturally distributed. Applications are often embedded in an environment with numerous connected computing devices with heterogeneous capabilities. As data travels from its point of origin (e.g., sensors) downstream to applications, it passes through many computing devices, each of which is a potential target of computation. Furthermore, to cope with time-varying load spikes and changing demand, many servers would be brought to bear on the problem. In both cases, distributed computation is the norm. Abstract

CLOUDS: A Decision Tree Classifier for Large Datasets <=SEP=> Classification for very large datasets has many practical applications in data mining. Techniques such as discretization and dataset sampling can be used to scale up decision tree classifiers to large datasets. Unfortunately, both of these techniques can cause a significant loss in accuracy. We present a novel decision tree classifier called CLOUDS, which samples the splitting points for numeric attributes followed by an estimation step to narrow the search space of the best split. CLOUDS reduces computation and I/O complexity substantially compared to state of the art classifters, while maintaining the quality of the generated trees in terms of accuracy and tree size. We provide experimental results with a number of real and synthetic data~ets.

What are the Gaps in Mobile Patient Portal? Mining Users Feedback Using Topic Modeling <=SEP=> Patient portals are positioned as a central component of patient engagement through the potential to change the physician-patient relationship and enable chronic disease self-management. In this article, we extend the existing literature by discovering design gaps for patient portals from a systematic analysis of negative users’ feedback from the actual use of patient portals. Specifically, we adopt topic modeling approach, LDA algorithm, to discover design gaps from online low rating user reviews of a common mobile patient portal, EPIC’s mychart. To validate the extracted gaps, we compared the results of LDA analysis with that of human analysis. Overall, the results revealed opportunities to improve collaboration and to enhance the design of portals intended for patientcentered care.

Text-to-3 D Scene Generation using Semantic Parsing and Spatial Knowledge with Rule Based System <=SEP=> Scene Generation plays an important role in digital media to represent a news or a specific domain to the viewers. It’s not easy to produce a scene from a text. Text may not completely express the whole situation in digital media. Most of the people are not conscious about the news until it's not visualized to them. Text to 3D scene generation is a process where people do not need to read a news. The 3D Scene will represent the situation. It will help people to conscious about their life. In this paper, we introduce a rule-based framework where scene generated from text using semantic parsing and spatial knowledge. Semantic parsing has identified the templates, objects, and constraints and spatial knowledge have built the relation between object and template. Our rule based framework has identified the uncountable noun and some spatial relations to generate 3D scenes.

A deadlock prevention method for railway networks using monitors for colored Petri nets <=SEP=> The real-time traffic control of railway networks authorizes movements of the trains and imposes safety constraints. The paper deals with the real time traffic control focusing on deadlock prevention problem. Colored Petri nets are used to model the dynamics of the railway network system: places represent tracks and stations, tokens are trains. The prevention policy is expressed by a set of linear inequality constraints, called colored Generalized Mutual Exclusion Constraints that are enforced by adding appropriate monitor places. Using digraph tools, deadlock situations are characterized and a strategy is established to define off-line a set of Generalized Mutual Exclusion Constraints that prevent deadlock. An example shows in detail the design of the proposed control logic.

LSTM-Based ECG Classification for Continuous Monitoring on Personal Wearable Devices <=SEP=> A novel ECG classification algorithm is proposed for continuous cardiac monitoring on wearable devices with limited processing capacity. The proposed solution employs a novel architecture consisting of wavelet transform and multiple LSTM recurrent neural networks (Fig. 1). Experimental evaluations show superior ECG classification performance compared to previous works. Measurements on different hardware platforms show the proposed algorithm meets timing requirements for continuous and real-time execution on wearable devices. In contrast to many compute-intensive deep-learning based approaches, the proposed algorithm is lightweight, and therefore, brings continuous monitoring with accurate LSTM-based ECG classification to wearable devices. The source code is available online [1].

User Preference Modeling and Exploitation in IoT Scenarios <=SEP=> Recommender Systems are commonly used in web applications to support users in finding items of their interest. We here propose to use Recommender Systems in Internet of Things scenarios to support human decision making in the physical world. For instance, users' choices (visit actions) for points of interests (POIs) while they explore a sensor enabled city can be tracked and used to generate recommendations for not yet visited POIs. In this PhD research, we propose a novel learning approach for generating an explainable human behaviour model and relevant recommendations in sensor enabled areas. Moreover, we propose techniques for simulating user behaviour and analyse the collective dynamics of a population of users.

The Race Between Man and Machine : Implications of Technology for Growth , Factor Shares and Employment <=SEP=> The advent of automation and the simultaneous decline in the labor share and employment among advanced economies raises concerns that labor will be marginalized and made redundant by new technologies. This paper examines this proposition in a task-based framework wherein not only are tasks previously performed by labor automated, but also more complex versions of existing tasks, in which labor has a comparative advantage, can be created. We fully characterize the structure of equilibrium in this model, establishing how the allocation of factors to tasks and factor prices are determined by the available technology and the endogenous choices of firms between capital and labor. We then demonstrate that although automation tends to reduce employment and the share of labor in national income, the creation of more complex tasks has the opposite effect. Our full model endogenizes the direction of research and development towards automation and the creation of new complex tasks. We show that, under reasonable conditions, there exists a stable balanced growth path in which the two types of innovations go hand-in-hand. Consequently, an increase in automation reduces the wage to rental rate ratio, and thus discourages further automation, encourages greater creation of more labor-intensive tasks, and restores the share of labor in national income and the employment to population ratio back towards their initial values. Though the economy is self-correcting, the equilibrium allocation of research effort is not optimal: to the extent that wages reflect quasi-rents for workers, firms will engage in too much automation. Finally, we extend the model to include workers of different skills. We find that inequality increases during transitions, but the self-correcting forces also serve to limit the increase in inequality over longer periods. Still in Progress. Comments Welcome. ∗We thank Philippe Aghion, David Autor, Erik Brynjolfsson, Chad Jones, and seminar participants at the AEA 2015, the MIT Initiative on the Digital Economy, and the NBER 2015 Economic Growth Group for their valuable comments.