Bayesian Robot Programming

We propose a new method to program robots based on Bayesian inference and learning. It is called BRP for Bayesian Robot Programming. The capacities of this programming method are demonstrated through a succession of increasingly complex experiments. Starting from the learning of simple reactive behaviors, we present instances of behavior combination, sensor fusion, hierarchical behavior composition, situation recognition and temporal sequencing. This series of experiments comprises the steps in the incremental development of a complex robot program. The advantages and drawbacks of BRP are discussed along with these different experiments and summed up as a conclusion. These different robotics programs may be seen as an illustration of probabilistic programming applicable whenever one must deal with problems based on uncertain or incomplete knowledge. The scope of possible applications is obviously much broader than robotics.     

The effect of drawing on memory performance in young children.

In Experiment 1, 32 5- to 6-year-old boys and girls participated in a unique event and were interviewed about that event 1 day later. Half of the children were asked to draw what happened during the event and half were asked to tell what happened. In both conditions, only children's verbal behavior was scored. Children in the draw group were as accurate and reported more information than children in the tell group, especially in response to direct questions. In Experiment 2, 32 5- to 6-year-olds and 32 3- to 4-year-olds participated in the same event used in Experiment 1 and were interviewed 1 month later. The 5- to 6-year-olds in the draw group reported more information than the 5- to 6-year-olds in the tell group after the 1-month delay. Drawing did not, however, increase the amount of information reported by 3- to 4-year-olds. These findings have important theoretical implications for memory development and important practical implications for children's eyewitness testimony. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Leak rate test of personnel airlock for LWR containment subject to pressures and temperatures beyond design

As part of the U.S. Nuclear Regulatory Commission's (USNRC) Containment Integrity Program, a full-size personnel airlock for a nuclear containment building was subjected to conditions simulating a severe accident.The objective of the test was to characterize the performance of an airlock when subjected to conditions that exceeded design. The gasket tested was a “double dog-ear” configuration made from an elastomer known as EPDM E603. The data obtained from this test will be used by SNL as a benchmark for development of analytical methods.Strain, temperature, displacements, pressure, and leak rate data were measured and recorded from over 330 transducers. The test lasted approximately 60 hours. Data were recorded at regular intervals during heating, pressurization and depressurization.The airlock was originally designed for 340°F and 60 psig. The airlock inner door and bulkhead were exposed to a maximum air temperature of approximately 850°F and a maximum air pressure of 300 psig. Two heating and pressurization cycles were planned; one to heat the air to 400°F and pressurize to 300 psig, and the second to heat to 800°F and pressurize to 300 psig. No significant leakage was recorded during these two cycles. A third cycle was added to the test program. The air temperature was increased to approximately 850°F and held at this temperature for nearly 12 hours. Pressure was increased and the inner door seal failed at a pressure of 150.5 psig. The maximum leak rate recorded past the inner door seal was 706 SCFM. The outer door seal did not fail.     

Motorcycle riding under the influence of alcohol: Results from the SARTRE-4 survey

Riding a motorcycle under the influence of alcohol is a dangerous activity, especially considering the high vulnerability of motorcyclists. The present research investigates the factors that affect the declared frequency of drink-riding among motorcyclists in Europe and explores regional differences. Data were collected from the SARTRE-4 (Social Attitudes to Road Traffic Risk in Europe) survey, which was conducted in 19 countries. A total sample of 4483 motorcyclists was interviewed by using a face-to-face questionnaire. The data were analyzed by means of multilevel ordered logit models. The results revealed significant regional differences (between Northern, Eastern and Southern European countries) in drink-riding frequencies in Europe. In general, declared drinking and riding were positively associated with gender (males), increased exposure, underestimation of risk, friends’ behaviour, past accidents and alcohol ticket experience. On the other hand, it was negatively associated with underestimation of the amount of alcohol allowed before driving, and support for more severe penalties.     

A replenishment policy based on joint optimization in a downstream pharmaceutical supply chain: centralized vs. decentralized replenishment

This paper considers a number of problems in a pharmaceutical downstream supply chain under specific constraints related to pharmaceutical products (e.g., their expiry date and regulations) and to inventory control (e.g., low prices of products, gift products or prices near zero, shortages prohibited but excess inventory allowed). As traditional models of inventory control and replenishment cannot optimize the total cost of the system, it is very important to consider the transportation cost as well. In this paper, we take into account some of these constraints and propose two models for multi-product replenishment policies, namely centralized and decentralized models. We seek to identify the best quantity and period of replenishment of products for a joint optimization of inventory and transportation costs. The proposed models can be applied to a specific family of products with a stable demand and high turnover rate, low prices (or gift products for some of them), and without any shortage. These two models are compared and the global approach is illustrated by a numerical example taken from a real-case study.     

Photo-thermo-refractive glass co-doped with Nd as a new laser medium

Photo-thermo-refractive (PTR) glass demonstrates refractive index change after exposure to UV radiation followed by a thermal treatment that enables recording of high efficiency holographic optical elements. This work demonstrates feasibility of function of this material as a complex optical medium which posseses both photosensitive and luminescent properties and paves a way for creation of monolythic solid state lasers where resonator components can be holographically recorded inside of a laser medium. It was found, that incorporating of Nd³⁺ ions in PTR glass does not affect photosensitivity required for hologram recording. It was demonstrated that emission wavelength, spectral width, and cross section of Nd³⁺ luminescence in PTR glass are typical for silicate laser glasses and Nd-doped PTR glass can be considered as a promising laser medium for monolithic solid state lasers.