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Uber says it is ready to get its self-driving cars up and running again after a fatal crash involving a self-driving car in Arizona seven months ago.

The company released a new safety report as it asked the U.S. National Highway Traffic Safety Administration for permission to start testing its self-driving vehicles on public roads in Pennsylvania.

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In the report, Uber detailed a series of safety changes made following the fatal crash in March. The company says it will now place two human operators in each self-driving vehicle, one to sit behind the wheel, and another to monitor the system from the passenger seat.

“We are deeply regretful for the crash in Tempe, Arizona, this March,” Uber CEO Dara Khosrowshahi wrote in a blog post. “In the months since, we have undertaken a top-to-bottom review of ATG’s safety approaches, system development, and culture.

“We have taken a measured, phased approach to returning to on-road testing, starting first with manual driving in Pittsburgh. We committed to deliver this safety report before returning to on-road testing in self-driving mode, and will go back on the road only when we’ve implemented improved processes.”