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Exactly - it's a small number and should be investigated, because if we reduce the number of all incursions, we reduce the number of collisions (and fatalities).
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They are classified as operation/ATC error, pilot error, and vehicle/pedestrian error.

Human can misspeak or mishear instructions, but if they were communicated and understood correctly (a read back was correct), but the pilot had a 'brain fart' and went forward instead of stopping, how do we eliminate brain farts?

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That's a big part of the story of aviation; the way things are communicated has changed because of brain farts, the way things are lined up, etc.

See 5-2-5 for an example:

https://www.faa.gov/air_traffic/publications/atpubs/aim_html...

NOTE- Previous reviews of air traffic events, involving LUAW instructions, revealed that a significant number of pilots read back LUAW instructions correctly and departed without a takeoff clearance. LUAW instructions are not to be confused with a departure clearance; the outcome could be catastrophic, especially during intersecting runway operations.

The older term was "hold short runway X" and that was too close to "hold runway X" - the first meant do NOT enter the runway, the second meant enter and line up but do NOT takeoff.

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The old version of “line up and wait” was “taxi into position and hold”. “Hold short of runway” is still in use but means something different.
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