Human Error in Autonomous Underwater Vehicle Deployment: A System Dynamics Approach

The use of autonomous underwater vehicles (AUVs) for various applications have grown with maturing technology and improved accessibility. The deployment of AUVs for under-ice marine science research in the Antarctic is one such example. However, a higher risk of AUV loss is present during such endeavors due to the extremities in the Antarctic. A thorough analysis of risks is therefore crucial for formulating effective risk control policies and achieving a lower risk of loss. Existing risk analysis approaches focused predominantly on the technical aspects, as well as identifying static cause and effect relationships in the chain of events leading to AUV loss. Comparatively, the complex interrelationships between risk variables and other aspects of risk such as human errors have received much lesser attention. In this article, a systems-based risk analysis framework facilitated by system dynamics methodology is proposed to overcome existing shortfalls. To demonstrate usefulness of the framework, it is applied on an actual AUV program to examine the occurrence of human error during Antarctic deployment. Simulation of the resultant risk model showed an overall decline in human error incident rate with the increase in experience of the AUV team. Scenario analysis based on the example provided policy recommendations in areas of training, practice runs, recruitment policy, and setting of risk tolerance level. The proposed risk analysis framework is pragmatically useful for risk analysis of future AUV programs to ensure the sustainability of operations, facilitating both better control and monitoring of risk.     

A Fuzzy‐Based Risk Assessment Framework for Autonomous Underwater Vehicle Under‐Ice Missions

The use of autonomous underwater vehicles (AUVs) for various scientific, commercial, and military applications has become more common with maturing technology and improved accessibility. One relatively new development lies in the use of AUVs for under‐ice marine science research in the Antarctic. The extreme environment, ice cover, and inaccessibility as compared to open‐water missions can result in a higher risk of loss. Therefore, having an effective assessment of risks before undertaking any Antarctic under‐ice missions is crucial to ensure an AUV's survival. Existing risk assessment approaches predominantly focused on the use of historical fault log data of an AUV and elicitation of experts’ opinions for probabilistic quantification. However, an AUV program in its early phases lacks historical data and any assessment of risk may be vague and ambiguous. In this article, a fuzzy‐based risk assessment framework is proposed for quantifying the risk of AUV loss under ice. The framework uses the knowledge, prior experience of available subject matter experts, and the widely used semiquantitative risk assessment matrix, albeit in a new form. A well‐developed example based on an upcoming mission by an ISE‐explorer class AUV is presented to demonstrate the application and effectiveness of the proposed framework. The example demonstrates that the proposed fuzzy‐based risk assessment framework is pragmatically useful for future under‐ice AUV deployments. Sensitivity analysis demonstrates the validity of the proposed method.     

Risk Analysis for Autonomous Underwater Vehicle Operations in Extreme Environments

Autonomous underwater vehicles (AUVs) are used increasingly to explore hazardous marine environments. Risk assessment for such complex systems is based on subjective judgment and expert knowledge as much as on hard statistics. Here, we describe the use of a risk management process tailored to AUV operations, the implementation of which requires the elicitation of expert judgment. We conducted a formal judgment elicitation process where eight world experts in AUV design and operation were asked to assign a probability of AUV loss given the emergence of each fault or incident from the vehicle's life history of 63 faults and incidents. After discussing methods of aggregation and analysis, we show how the aggregated risk estimates obtained from the expert judgments were used to create a risk model. To estimate AUV survival with mission distance, we adopted a statistical survival function based on the nonparametric Kaplan‐Meier estimator. We present theoretical formulations for the estimator, its variance, and confidence limits. We also present a numerical example where the approach is applied to estimate the probability that the Autosub3 AUV would survive a set of missions under Pine Island Glacier, Antarctica in January–March 2009.     

A Combined Monte Carlo and Possibilistic Approach to Uncertainty Propagation in Event Tree Analysis

In risk analysis, the treatment of the epistemic uncertainty associated to the probability of occurrence of an event is fundamental. Traditionally, probabilistic distributions have been used to characterize the epistemic uncertainty due to imprecise knowledge of the parameters in risk models. On the other hand, it has been argued that in certain instances such uncertainty may be best accounted for by fuzzy or possibilistic distributions. This seems the case in particular for parameters for which the information available is scarce and of qualitative nature. In practice, it is to be expected that a risk model contains some parameters affected by uncertainties that may be best represented by probability distributions and some other parameters that may be more properly described in terms of fuzzy or possibilistic distributions. In this article, a hybrid method that jointly propagates probabilistic and possibilistic uncertainties is considered and compared with pure probabilistic and pure fuzzy methods for uncertainty propagation. The analyses are carried out on a case study concerning the uncertainties in the probabilities of occurrence of accident sequences in an event tree analysis of a nuclear power plant.     

具有模糊收益的项目投资组合优化方法

基于可能性理论,研究了投资项目具有模糊收益的多项目投资组合的决策问题。在假设投资项目各年净现金流为三角模糊数的条件下,运用可能性均值和方差,建立了基于现值指数法的单投资项目模糊收益指标和模糊风险评价指标,同时,在此基础上建立了基于模糊可能性均值与方差的多项目投资组合优化模型,提出了最优项目投资组合的算法。最后,给出实际算例说明了方法的可行性和有效性。     

Using Probabilistic Terrorism Risk Modeling for Regulatory Benefit-Cost Analysis: Application to the Western Hemisphere Travel Initiative in the Land Environment

This article presents a framework for using probabilistic terrorism risk modeling in regulatory analysis. We demonstrate the framework with an example application involving a regulation under consideration, the Western Hemisphere Travel Initiative for the Land Environment, (WHTI‐L). First, we estimate annualized loss from terrorist attacks with the Risk Management Solutions (RMS) Probabilistic Terrorism Model. We then estimate the critical risk reduction, which is the risk‐reducing effectiveness of WHTI‐L needed for its benefit, in terms of reduced terrorism loss in the United States, to exceed its cost. Our analysis indicates that the critical risk reduction depends strongly not only on uncertainties in the terrorism risk level, but also on uncertainty in the cost of regulation and how casualties are monetized. For a terrorism risk level based on the RMS standard risk estimate, the baseline regulatory cost estimate for WHTI‐L, and a range of casualty cost estimates based on the willingness‐to‐pay approach, our estimate for the expected annualized loss from terrorism ranges from $2.7 billion to $5.2 billion. For this range in annualized loss, the critical risk reduction for WHTI‐L ranges from 7% to 13%. Basing results on a lower risk level that results in halving the annualized terrorism loss would double the critical risk reduction (14–26%), and basing the results on a higher risk level that results in a doubling of the annualized terrorism loss would cut the critical risk reduction in half (3.5–6.6%). Ideally, decisions about terrorism security regulations and policies would be informed by true benefit‐cost analyses in which the estimated benefits are compared to costs. Such analyses for terrorism security efforts face substantial impediments stemming from the great uncertainty in the terrorist threat and the very low recurrence interval for large attacks. Several approaches can be used to estimate how a terrorism security program or regulation reduces the distribution of risks it is intended to manage. But, continued research to develop additional tools and data is necessary to support application of these approaches. These include refinement of models and simulations, engagement of subject matter experts, implementation of program evaluation, and estimating the costs of casualties from terrorism events.     

A Soft-Path Solution to Risk Reduction by Modeling Medical Waste Disposal Center Location-Allocation Optimization

The risk of medical waste pollution and huge demand of daily medical waste disposal pose great difficulties to medical waste management. Establishing medical waste disposal centers (MWDCs) is considered one of the ways to reduce the environmental and public risk of medical waste pollution. However, how to serve the medical waste disposal demand in optimal MWDCs’ locations is a key challenge due to the complexity of the whole system and relationships among stakeholders. This article develops a soft-path solution for reducing risks as well as mitigating the related costs by optimizing the MWDC location-allocation problem. A risk mitigation-oriented bilevel equilibrium optimization model is developed for modeling the Stackelberg game behavior between the local government and the medical institutions. The objectives of the local government are minimizing the total risk of loss, the subsidy costs, and the investment cost of building the MWDCs, while minimizing the disposal and transportation costs are the objectives at the medical institution level. Fuzzy random variables are introduced by combining insufficient historical data with expert knowledge via consulting surveys to describe the coexisting uncertainties in the data. To solve the model, a hybrid approach combined with the interactive fuzzy programming technique and an Entropy-Boltzmann selection-based genetic algorithm are designed and tested. The Chengdu Medical Waste Disposal Centers Planning Project is used as a practical application. The results show that it is possible to achieve a balanced market with higher economic efficiency and significantly reduced risk through an appropriate principle of interactive actions between the bilevel stakeholders.     

A Multicriteria Decision Analysis Model and Risk Assessment Framework for Carbon Capture and Storage

Multicriteria decision analysis (MCDA) has been applied to various energy problems to incorporate a variety of qualitative and quantitative criteria, usually spanning environmental, social, engineering, and economic fields. MCDA and associated methods such as life‐cycle assessments and cost‐benefit analysis can also include risk analysis to address uncertainties in criteria estimates. One technology now being assessed to help mitigate climate change is carbon capture and storage (CCS). CCS is a new process that captures CO₂ emissions from fossil‐fueled power plants and injects them into geological reservoirs for storage. It presents a unique challenge to decisionmakers (DMs) due to its technical complexity, range of environmental, social, and economic impacts, variety of stakeholders, and long time spans. The authors have developed a risk assessment model using a MCDA approach for CCS decisions such as selecting between CO₂ storage locations and choosing among different mitigation actions for reducing risks. The model includes uncertainty measures for several factors, utility curve representations of all variables, Monte Carlo simulation, and sensitivity analysis. This article uses a CCS scenario example to demonstrate the development and application of the model based on data derived from published articles and publicly available sources. The model allows high‐level DMs to better understand project risks and the tradeoffs inherent in modern, complex energy decisions.     

A Cellular Dynamics Model of Experimental Bladder Cancer: Analysis of the Effect of Sodium Saccharin in the Rat

To make the methodology of risk assessment more consistent with the realities of biological processes, a computer-based model of the carcinogenic process may be used. A previously developed probabilistic model, which is based on a two-stage theory of carcinogenesis, represents urinary bladder carcinogenesis at the cellular level with emphasis on quantification of cell dynamics: cell mitotic rates, cell loss and birth rates, and irreversible cellular transitions from normal to initiated to transformed states are explicitly accounted for. Analyses demonstrate the sensitivity of tumor incidence to the timing and magnitude of changes to these cellular variables. It is demonstrated that response in rats following administration of nongenotoxic compounds, such as sodium saccharin, can be explained entirely on the basis of cytotoxicity and consequent hyperplasia alone.     

Water resources management under multi-parameter interactions: A factorial multi-stage stochastic programming approach

The paper proposes a factorial multi-stage stochastic programming (FMSP) approach to support water resources management under uncertainty. This approach was developed based on the conventional inexact multi-stage stochastic programming method. Five alternative inexact multi-stage stochastic programming algorithms in addition to the conventional algorithm were introduced and bundled to offer multiple decision options that reflect decision makers' perspectives and the complexities in system uncertainties. More importantly, factorial analysis, a multivariate inference method, was introduced into the modeling framework to analyze the potential interrelationships among a variety of uncertain parameters and their impacts on system performance. The proposed approach was applied to a water resources management case. The desired water-allocation schemes were obtained to assist in maximizing the total net benefit of the system. Multiple uncertain parameters and their interactions were examined, and those that had significant influences on system performance were identified. For example, the medium flow in the third planning period was the system objective's most influential factor. Any variation of this factor would significantly influence the acquisition of the total net benefit in the community. The significant interactions were also identified, such as the interaction between the agricultural sector's penalty and the medium flow in the third planning period. Through the analysis of multi-parameter interactions, the interrelationships among the uncertain parameters could be further revealed.     

Decision Making Under Uncertainty—An Example for Seismic Risk Management

Decision-making techniques are used to select the "best" alternatives under multiple and often conflicting criteria. Multicriteria decision making (MCDM) necessitates to incorporate uncertainties in the decision-making process. The major thrust of this article is to extend the framework proposed by Yager^{( 1 )} for multiple decisionmakers and fuzzy utilities (payoffs). In addition, the concept of expert credibility factor is introduced. The proposed approach is demonstrated for an example of seismic risk management using a heuristic hierarchical structure. A step-by-step formulation of the proposed approach is illustrated using a hypothetical example and a three-story reinforced concrete building.     

An Emerging New Risk Analysis Science: Foundations and Implications

To solve real‐life problems—such as those related to technology, health, security, or climate change—and make suitable decisions, risk is nearly always a main issue. Different types of sciences are often supporting the work, for example, statistics, natural sciences, and social sciences. Risk analysis approaches and methods are also commonly used, but risk analysis is not broadly accepted as a science in itself. A key problem is the lack of explanatory power and large uncertainties when assessing risk. This article presents an emerging new risk analysis science based on novel ideas and theories on risk analysis developed in recent years by the risk analysis community. It builds on a fundamental change in thinking, from the search for accurate predictions and risk estimates, to knowledge generation related to concepts, theories, frameworks, approaches, principles, methods, and models to understand, assess, characterize, communicate, and (in a broad sense) manage risk. Examples are used to illustrate the importance of this distinct/separate risk analysis science for solving risk problems, supporting science in general and other disciplines in particular.     

Sustaining growth in the modern enterprise: A case study

This paper describes a model developed to demonstrate the constancy of and virtual need for change in a sustaining organization. Several executives from different organizations were interviewed in order to capture the dynamics structure. Essential variables were listed and causal modeling was used to obtain important relationships. Equations of interrelationships among the variables were developed. Validation of the model was performed at two levels: (1) validation of the structure as suggested by the causal modeling process using a new methodology and (2) validation of the emergent behavior by using case studies of industries which have different time rates of evolution.     

External Initiators in Probabilistic Reactor Accident Analysis—Earthquakes, Fires, Floods, Winds

This article discusses the methodologies presently available for analyzing the contribution of "external initiators" to overall risks in the context of PRA (probabilistic risk assessment) of large commercial nuclear power reactors. "External initiators" include earthquakes, fires and floods inside the plant, external floods, high winds, aircraft, barge, and ship collisions, noxious or explosive gases offsite, and so on. These are in contrast to "internal initiators" such as active or passive plant equipment failures, human errors, and loss of electrical power. The ability to consider external initiators within PRA has undergone major advances in recent years. In general, uncertainties associated with the calculated risks from external initiators are much larger than those associated with internal initiators. The principal uncertainties lie with development of hazard curves (such as the frequency of occurrence of an event exceeding a given size: for example, the likelihood of a hurricane with winds exceeding 125 knots). For assessment of earthquakes, internal fires and floods, and high winds, the methodology is reasonably mature for qualitative assessment but not for quantitative application. The risks from other external initiators are generally considered to be low, either because of the very long recurrence time associated with the events or because the plants are judged to be well designed to withstand them.     

Guiding Resource Allocations Based on Terrorism Risk

Establishing tolerable levels of risk is one of the most contentious and important risk management decisions. With every regulatory or funding decision for a risk management program, society decides whether or not risk is tolerable. The Urban Area Security Initiative (UASI) is a Department of Homeland Security (DHS) grant program designed to enhance security and overall preparedness to prevent, respond to, and recover from acts of terrorism by providing financial assistance for planning, equipment, training, and exercise needs of large urban areas. After briefly reviewing definitions of terrorism risk and rationales for risk-based resource allocation, this article compares estimates of terrorism risk in urban areas that received UASI funding in 2004 to other federal risk management decisions. This comparison suggests that UASI allocations are generally consistent with other federal risk management decisions. However, terrorism risk in several cities that received funding is below levels that are often tolerated in other risk management contexts. There are several reasons why the conclusions about terrorism risk being de minimis in specific cities should be challenged. Some of these surround the means used to estimate terrorism risk for this study. Others involve the comparison that is made to other risk management decisions. However, many of the observations reported are valid even if reported terrorism risk estimates are several orders of magnitude too low. Discussion of resource allocation should be extended to address risk tolerance and include explicit comparisons, like those presented here, to other risk management decisions.     

摩擦市场中允许卖空的最优投资组合选择

资本市场的一个重要特征就是存在不确定因素,为了衡量其导致的风险,本文提出基于绝对偏差的新型函数,在一个存在摩擦的资本市场中构造均值-绝对离差(mean-absolute deviation,MAD)投资组合选择模型.该模型结构特殊性使其转化为线性规划问题,从而可利用单纯型法求解.实证分析比较了不同风险函数下投资组合的有效前沿,并验证了该方法的有效性.     

供需不确定条件下基于CVaR的零售商库存鲁棒优化模型

在经典报童模型下考虑供应和需求不确定性,研究了具有风险厌恶的零售商库存优化问题。采用条件风险值（CVaR）对库存绩效进行度量,构建了基于CVaR的零售商库存运作模型;在此基础上,考虑上游供应商供货能力和下游市场需求不确定性,并采用一系列未知概率的离散情景进行描述,给出了供需不确定条件下基于CVaR的零售商库存鲁棒优化模型。进一步,采用区间不确定集对未知情景概率进行建模,给出了基于最大最小准则的鲁棒对应模型。针对同时考虑供需不确定性导致的模型非凸性,采用标准对偶理论将其转化为易于求解的数学规划问题。最后,通过数值计算分析了不同风险厌恶程度和不确定性程度对零售商库存决策以及库存绩效的影响。结果表明,供需不确定性的存在虽然会导致零售商库存绩效损失,但损失值较小。特别地,依据文中模型得到的鲁棒库存策略在多数情况下能够保证零售商获得更优的库存绩效。此外,不确定性和风险厌恶程度的增加虽然会影响零售商库存决策和运作绩效,但在同等风险厌恶态度下,随着不确定性程度的增加,基于文中方法得到的鲁棒库存策略仍能确保零售商获得理想的库存绩效,表明文中所建模型在应对供需不确定性方面具有良好的鲁棒性。     

On How to Deal with Deep Uncertainties in a Risk Assessment and Management Context

Recently, several authors have presented interesting contributions on how to meet deep or severe uncertainties in a risk analysis setting. In this article, we provide some reflections on some of the foundational pillars that this work is based on, including the meaning of concepts such as deep uncertainty, known probabilities, and correct models, the aim being to contribute to a strengthening of the scientific platform of the work, as well as providing new insights on how to best implement management policies meeting these uncertainties. We also provide perspectives on the boundaries and limitations of analytical approaches for supporting decision making in cases of deep uncertainties. A main conclusion of the article is that deep uncertainties call for managerial review and judgment that sees beyond the analytical frameworks studied in risk assessment and risk management contexts, including those now often suggested to be used, such as robust optimization techniques. This managerial review and judgment should be seen as a basic element of the risk management.     

Quantifying Water Pathogen Risk in an Epidemiological Framework

Traditionally, microbial risk assessors have used point estimates to evaluate the probability that an individual will become infected. We developed a quantitative approach that shifts the risk characterization perspective from point estimate to distributional estimate, and from individual to population. To this end, we first designed and implemented a dynamic model that tracks traditional epidemiological variables such as the number of susceptible, infected, diseased, and immune, and environmental variables such as pathogen density. Second, we used a simulation methodology that explicitly acknowledges the uncertainty and variability associated with the data. Specifically, the approach consists of assigning probability distributions to each parameter, sampling from these distributions for Monte Carlo simulations, and using a binary classification to assess the output of each simulation. A case study is presented that explores the uncertainties in assessing the risk of giardiasis when swimming in a recreational impoundment using reclaimed water. Using literature-based information to assign parameters ranges, our analysis demonstrated that the parameter describing the shedding of pathogens by infected swimmers was the factor that contributed most to the uncertainty in risk. The importance of other parameters was dependent on reducing the a priori range of this shedding parameter. By constraining the shedding parameter to its lower subrange, treatment efficiency was the parameter most important in predicting whether a simulation resulted in prevalences above or below non outbreak levels. Whereas parameters associated with human exposure were important when the shedding parameter was constrained to a higher subrange. This Monte Carlo simulation technique identified conditions in which outbreaks and/or nonoutbreaks are likely and identified the parameters that most contributed to the uncertainty associated with a risk prediction.