Skill Memory in Biped Locomotion

Robots must be able to adapt their motor behavior to unexpected situations in order to safely move among humans. A necessary step is to be able to predict failures, which result in behavior abnormalities and may cause irrecoverable damage to the robot and its surroundings, i.e. humans. In this paper we build a predictive model of sensor traces that enables early failure detection by means of a skill memory. Specifically, we propose an architecture based on a biped locomotion solution with improved robustness due to sensory feedback, and extend the concept of Associative Skill Memories (ASM) to periodic movements by introducing several mechanisms into the training workflow, such as linear interpolation and regression into a Dynamical Motion Primitive (DMP) system such that representation becomes time invariant and easily parameterizable. The failure detection mechanism applies statistical tests to determine the optimal operating conditions. Both training and failure testing were conducted on a DARwIn-OP inside a simulation environment to assess and validate the failure detection system proposed. Results show that the system performance in terms of the compromise between sensitivity and specificity is similar with and without the proposed mechanism, while achieving a significant data size reduction due to the periodic approach taken.     

Relational Learning with GPUs: Accelerating Rule Coverage

Relational learning algorithms mine complex databases for interesting patterns. Usually, the search space of patterns grows very quickly with the increase in data size, making it impractical to solve important problems. In this work we present the design of a relational learning system, that takes advantage of graphics processing units (GPUs) to perform the most time consuming function of the learner, rule coverage. To evaluate performance, we use four applications: a widely used relational learning benchmark for predicting carcinogenesis in rodents, an application in chemo-informatics, an application in opinion mining, and an application in mining health record data. We compare results using a single and multiple CPUs in a multicore host and using the GPU version. Results show that the GPU version of the learner is up to eight times faster than the best CPU version.     

Visually impaired people and the emerging connected TV: a comparative study of TV and Web applications’ accessibility

With the TV signal digitization and the current market growth of connected TVs, the authors envision the appearance of accessibility barriers to visually impaired persons. The paper addresses the following hypothesis: (1) visually impaired users want to extend their TV usage to explore new TV features; (2) TV applications are in less conformance with accessibility guidelines compared to their Desktop versions. Additionally, the authors wanted to assess whether guideline conformance reflected real TV accessibility problems experienced by users. The methods used for this study included surveys aimed at characterizing the interest of the visually impaired population regarding the use of TV, and specifically of Web applications on TV, an automated accessibility evaluation to compare TV and Desktop versions of the same Web application, to understand their conformance with accessibility guidelines, and a user study where participants with visual impairments were asked to perform some tasks on both versions. From the survey, we confirmed that people with visual disabilities are interested in extra features on their TV. Results from the automated accessibility evaluation show that TV applications are in a significantly better level of conformance with accessibility guidelines. The user study has illustrated that users were unable to complete any task using the TV versions of the applications. The results from these studies demonstrated that the new features that come with connected TVs still have a long way to go in order to be accessible by all. Furthermore, they lead us to concur with other works that automated evaluations are not enough to assess the accessibility of a Web page.     

Automatic measurement of arterial pressure

PURPOSE: To identify patients with lymphoma at risk for tumor lysis after chemotherapy. PATIENTS AND METHODS: The case records of 102 patients receiving combination chemotherapy for non-Hodgkin's lymphoma (intermediate to high-grade histology) were reviewed. Patients were considered to have "laboratory tumor lysis" if two of the following metabolic changes occurred within 4 days of treatment: a 25% increase in the serum phosphate, potassium, uric acid, or urea nitrogen concentrations, or a 25% decline in the serum calcium concentration. "Clinical tumor lysis" was defined as laboratory tumor lysis plus one of the following: a serum potassium level greater than 6 mmol/L, a creatinine level greater than 221 mumol/L, or a calcium level less than 1.5 mmol/L, the development of a life-threatening arrhythmia, or sudden death. RESULTS: Laboratory tumor lysis occurred in 42% of patients and clinical tumor lysis in 6%. There was no statistical difference in the frequency of either tumor lysis syndrome among lymphoma subgroups. Clinical tumor lysis occurred more frequently in patients with pretreatment renal insufficiency (serum creatinine level greater than 132 mumol/L) than in patients with normal renal function (36% versus 2%; p = 0.01). The development of azotemia correlated with high pretreatment serum lactate dehydrogenase concentrations (p < 0.01; r2 = 0.11). CONCLUSION: Clinically significant tumor lysis is a rare occurrence in patients with lymphoma when they are receiving allopurinol. However, tumor lysis can occur in patients with all types of moderate to high-grade non-Hodgkin's lymphoma. Patients with a high serum lactate dehydrogenase level or renal insufficiency are at increased risk for metabolic complications after chemotherapy and should be closely monitored.     

Compact cryogenic source of periodic hydrogen and argon droplet beams for relativistic laser-plasma generation

We present a cryogenic source of periodic streams of micrometer-sized hydrogen and argon droplets as ideal mass-limited target systems for fundamental intense laser-driven plasma applications. The highly compact design combined with a high temporal and spatial droplet stability makes our injector ideally suited for experiments using state-of-the-art high-power lasers in which a precise synchronization between the laser pulses and the droplets is mandatory. We show this by irradiating argon droplets with multi-terawatt pulses.     

Volatilization of hydrogen sulfide from a quiescent surface

Air-water mass transfer of hydrogen sulfide from a shallow tank with a quiescent surface under the influence of weak wind stress on the water surface was studied numerically using a two-dimensional model. The flow field in the tank was investigated using a computational code based on a finite volume, which is used to numerically solve momentum, mass and continuity conservation equations. The results show that water phase flow field is strongly dependent on the wind-induced surface velocity and the aspect ratio of the tank. Based on the numerical study, the liquid-side mass transfer coefficient is correlated with Reynolds number (R(e)), tank aspect ratio (AR) and Schmidt number (S(c)). Overall mass transfer coefficient (K(L)) values extend further downstream as the R(e) number increases.     

Estimation in X-bar control charts: effects and corrections

This paper presents an approach for improving the control limits of $ \overline{X} $ control charts when the parameters of the process are estimated and the control chart is in operation. In these conditions, the observed average run length (ARL) may be very different from the planned ARL since the parameter estimates may have a larger error. To minimize this problem, the data collected in effective control (phase 2) will be used to re-estimate the parameters with a precision greater than that obtained in phase 1. Thus, we defined a minimum sample size of observations of phase 2, which is constituted of a mixture of two normal distributions that should be used to re-estimate the process parameters. The proposal is illustrated with numerical example.     

Electrical modeling of liquid crystal displays-LCDs

An investigation into the complex dielectric permittivity of nematic liquid crystal (NLC) on homogeneous (or planar, molecular director axis parallel the surface of the cell) and homeotropic (molecular director axis perpendicular the surface of the cell) alignments led to the conception of special equivalent electric circuits representing different dielectric mechanisms that are present in liquid crystal displays (LCDs). In our study, NLC cells with and without polyvinyl alcohol-PVA alignment were subjected to a frequency range of 10/sup -1/ Hz to 10/sup 7/ Hz, revealing four distinct mechanisms of dielectric dispersion. In the NLC cells without PVA, the dielectric dispersion at very low frequencies (10/sup -1/ Hz10/sup 7/ Hz) dielectric dispersion was attributed mainly to the rotation of NLC molecules around their own axes. While, in the NLC cells with PVA, the dielectric dispersion at low frequencies (1 Hz相似文献   

Oxygen transport phenomena at the liquid metal-vapour interface

A system made of an atmosphere, a liquid metal and an oxide phase at a given temperature and total pressure is zero-variant and allows only a particular set of partial pressures, compatible with thermodynamic equilibrium. For any different gas composition the system will show a tendency to evolution. Therefore, classical thermodynamics cannot give the answers to a number of problems of major interest, such as those concerning the conditions for interface saturation and oxide formation. Strictly speaking these are kinetic problems, but they can still be treated as pseudo-thermodynamic questions. The key to the problem is in considering the characteristic times of evolution, which suggest stationary state approximation for the condensed phases. In many instances, the evaluation of gas-atmosphere mass exchanges under stationary conditions makes it possible to determine the effective oxygen pressure at which the oxidation of the metal becomes evident. Surface tension measurements allow this condition to be detected with a good accuracy. According to experimental evidence, the effective oxygen pressure can be many orders of magnitude greater than the equilibrium value. The problem needs different theoretical approaches according to the molecular mechanisms involved. Moreover, from the experimental point of view, there are particularly delicate questions regarding the accuracy and the significance of the oxygen control and measurement.     

Finite horizon quadratic optimal control and a separation principle for Markovian jump linear systems

In this note, we consider the finite-horizon quadratic optimal control problem of discrete-time Markovian jump linear systems driven by a wide sense white noise sequence. We assume that the output variable and the jump parameters are available to the controller. It is desired to design a dynamic Markovian jump controller such that the closed-loop system minimizes the quadratic functional cost of the system over a finite horizon period of time. As in the case with no jumps, we show that an optimal controller can be obtained from two coupled Riccati difference equations, one associated to the optimal control problem when the state variable is available, and the other one associated to the optimal filtering problem. This is a principle of separation for the finite horizon quadratic optimal control problem for discrete-time Markovian jump linear systems. When there is only one mode of operation our results coincide with the traditional separation principle for the linear quadratic Gaussian control of discrete-time linear systems.