[Joy Deane]

This looks like really interesting work.

I also only found out a few years ago about an accessibility feature that helps with the second issue. It’s built into many signalled pedestrian crossings (at least in the UK). If you put your hand under the control box (the box with the button to press to indicate that you want to cross), there is a little cone with tactile ridges. It starts spinning when the green man shows, and stops when it’s the red man. It’s great for situations where noise can’t be used (e.g. because 2 crossings are too close together or because the noise bothers the neighbours). Here’s a BBC article about it: https://www.bbc.co.uk/news/blogs-ouch-22706881