On the simulation of nonlinear bidimensional spiking neuron models

Bidimensional spiking models are garnering a lot of attention for their simplicity and their ability to reproduce various spiking patterns of cortical neurons and are used particularly for large network simulations. These models describe the dynamics of the membrane potential by a nonlinear differential equation that blows up in finite time, coupled to a second equation for adaptation. Spikes are emitted when the membrane potential blows up or reaches a cutoff θ. The precise simulation of the spike times and of the adaptation variable is critical, for it governs the spike pattern produced and is hard to compute accurately because of the exploding nature of the system at the spike times. We thoroughly study the precision of fixed time-step integration schemes for this type of model and demonstrate that these methods produce systematic errors that are unbounded, as the cutoff value is increased, in the evaluation of the two crucial quantities: the spike time and the value of the adaptation variable at this time. Precise evaluation of these quantities therefore involves very small time steps and long simulation times. In order to achieve a fixed absolute precision in a reasonable computational time, we propose here a new algorithm to simulate these systems based on a variable integration step method that either integrates the original ordinary differential equation or the equation of the orbits in the phase plane, and compare this algorithm with fixed time-step Euler scheme and other more accurate simulation algorithms.     

The impact of false warnings on partial and full lane departure warnings effectiveness and acceptance in car driving

In the past, lane departure warnings (LDWs) were demonstrated to improve driving behaviours during lane departures but little is known about the effects of unreliable warnings. This experiment focused on the influence of false warnings alone or in combination with missed warnings and warning onset on assistance effectiveness and acceptance. Two assistance unreliability levels (33 and 17%) and two warning onsets (partial and full lane departure) were manipulated in order to investigate interaction. Results showed that assistance, regardless unreliability levels and warning onsets, improved driving behaviours during lane departure episodes and outside of these episodes by favouring better lane-keeping performances. Full lane departure and highly unreliable warnings, however, reduced assistance efficiency. Drivers’ assistance acceptance was better for the most reliable warnings and for the subsequent warnings. The data indicate that imperfect LDWs (false warnings or false and missed warnings) further improve driving behaviours compared to no assistance.

Practitioner Summary: This study revealed that imperfect lane departure warnings are able to significantly improve driving performances and that warning onset is a key element for assistance effectiveness and acceptance. The conclusion may be of particular interest for lane departure warning designers.     

An Architecture for Human‐Guided Autonomy: Team TROOPER at the DARPA Robotics Challenge Finals

Recent robotics efforts have automated simple, repetitive tasks to increase execution speed and lessen an operator's cognitive load, allowing them to focus on higher‐level objectives. However, an autonomous system will eventually encounter something unexpected, and if this exceeds the tolerance of automated solutions, there must be a way to fall back to teleoperation. Our solution is a largely autonomous system with the ability to determine when it is necessary to ask a human operator for guidance. We call this approach human‐guided autonomy. Our design emphasizes human‐on‐the‐loop control where an operator expresses a desired high‐level goal for which the reasoning component assembles an appropriate chain of subtasks. We introduce our work in the context of the DARPA Robotics Challenge (DRC) Finals. We describe the software architecture Team TROOPER developed and used to control an Atlas humanoid robot. We employ perception, planning, and control automation for execution of subtasks. If subtasks fail, or if changing environmental conditions invalidate the planned subtasks, the system automatically generates a new task chain. The operator is able to intervene at any stage of execution, to provide input and adjustment to any control layer, enabling operator involvement to increase as confidence in automation decreases. We present our performance at the DRC Finals and a discussion about lessons learned.     

Optimal digital dynamical decoupling for general decoherence via Walsh modulation

We provide a general framework for constructing digital dynamical decoupling sequences based on Walsh modulation—applicable to arbitrary qubit decoherence scenarios. By establishing equivalence between decoupling design based on Walsh functions and on concatenated projections, we identify a family of optimal Walsh sequences, which can be exponentially more efficient, in terms of the required total pulse number, for fixed cancellation order, than known digital sequences based on concatenated design. Optimal sequences for a given cancellation order are highly non-unique—their performance depending sensitively on the control path. We provide an analytic upper bound to the achievable decoupling error and show how sequences within the optimal Walsh family can substantially outperform concatenated decoupling in principle, while respecting realistic timing constraints.     

Gradient based hyper-parameter optimisation for well conditioned kriging metamodels

In this work a two step approach to efficiently carrying out hyper parameter optimisation, required for building kriging and gradient enhanced kriging metamodels, is presented. The suggested approach makes use of an initial line search along the hyper-diagonal of the design space in order to find a suitable starting point for a subsequent gradient based optimisation algorithm. During the optimisation an upper bound constraint is imposed on the condition number of the correlation matrix in order to keep it from being ill conditioned. Partial derivatives of both the condensed log likelihood function and the condition number are obtained using the adjoint method, the latter has been derived in this work. The approach is tested on a number of analytical examples and comparisons are made to other optimisation approaches. Finally the approach is used to construct metamodels for a finite element model of an aircraft wing box comprising of 126 thickness design variables and is then compared with a sub-set of the other optimisation approaches.     

Inconsistent heuristics in theory and practice

In the field of heuristic search it is usually assumed that admissible heuristics are consistent, implying that consistency is a desirable attribute. The term “inconsistent heuristic” has, at times, been portrayed negatively, as something to be avoided. Part of this is historical: early research discovered that inconsistency can lead to poor performance for A^? (nodes might be re-expanded many times). However, the issue has never been fully investigated, and was not re-considered after the invention of IDA^?.This paper shows that many of the preconceived notions about inconsistent heuristics are outdated. The worst-case exponential time of inconsistent heuristics is shown to only occur on contrived graphs with edge weights that are exponential in the size of the graph. Furthermore, the paper shows that rather than being something to be avoided, inconsistent heuristics often add a diversity of heuristic values into a search which can lead to a reduction in the number of node expansions. Inconsistent heuristics are easy to create, contrary to the common perception in the AI literature. To demonstrate this, a number of methods for achieving effective inconsistent heuristics are presented.Pathmax is a way of propagating inconsistent heuristic values in the search from parent to children. This technique is generalized into bidirectional pathmax (BPMX) which propagates values from a parent to a child node, and vice versa. BPMX can be integrated into IDA^? and A^?. When inconsistent heuristics are used with BPMX, experimental results show a large reduction in the search effort required by IDA^?. Positive results are also presented for A^? searches.     

Integrating airborne multispectral imagery and airborne LiDAR data for enhanced lithological mapping in vegetated terrain

Practical and financial constraints associated with traditional field-based lithological mapping are often responsible for the generation of maps with insufficient detail and inaccurately located contacts. In arid areas with well exposed rocks and soils, high-resolution multi- and hyperspectral imagery is a valuable mapping aid as lithological units can be readily discriminated and mapped by automatically matching image pixel spectra to a set of reference spectra. However, the use of spectral imagery in all but the most barren terrain is problematic because just small amounts of vegetation cover can obscure or mask the spectra of underlying geological substrates. The use of ancillary information may help to improve lithological discrimination, especially where geobotanical relationships are absent or where distinct lithologies exhibit inherent spectral similarity. This study assesses the efficacy of airborne multispectral imagery for detailed lithological mapping in a vegetated section of the Troodos ophiolite (Cyprus), and investigates whether the mapping performance can be enhanced through the integration of LiDAR-derived topographic data. In each case, a number of algorithms involving different combinations of input variables and classification routine were employed to maximise the mapping performance. Despite the potential problems posed by vegetation cover, geobotanical associations aided the generation of a lithological map - with a satisfactory overall accuracy of 65.5% and Kappa of 0.54 - using only spectral information. Moreover, owing to the correlation between topography and lithology in the study area, the integration of LiDAR-derived topographic variables led to significant improvements of up to 22.5% in the overall mapping accuracy compared to spectral-only approaches. The improvements were found to be considerably greater for algorithms involving classification with an artificial neural network (the Kohonen Self-Organizing Map) than the parametric Maximum Likelihood Classifier. The results of this study demonstrate the enhanced capability of data integration for detailed lithological mapping in areas where spectral discrimination is complicated by the presence of vegetation or inherent spectral similarities.     

Modelling acute renal failure using blood and breath biomarkers in rats

This paper compares three methods for estimating renal function, as tested in rats. Acute renal failure (ARF) was induced via a 60-min bilateral renal artery clamp in 8 Sprague-Dawley rats and renal function was monitored for 1 week post-surgery. A two-compartment model was developed for estimating glomerular filtration via a bolus injection of a radio-labelled inulin tracer, and was compared with an estimated creatinine clearance method, modified using the Cockcroft-Gault equation for rats. These two methods were compared with selected ion flow tube-mass spectrometry (SIFT-MS) monitoring of breath analytes. Determination of renal function via SIFT-MS is desirable since results are available non-invasively and in real time. Relative decreases in renal function show very good correlation between all 3 methods (R² = 0.84, 0.91 and 0.72 for breath-inulin, inulin-creatinine, and breath-creatinine correlations, respectively), and indicate good promise for fast, non-invasive determination of renal function via breath testing.     

New Research Results for Electronic Voting

Voting systems have become controversial in the years following the multiple election disasters that occurred in the United States during and after 2000. Of particular note were the electronic voting (e-voting) systems that were widely deployed to replace the pre-scored punch-card systems, systems that had have been frequently judged to be central to the problem in the 2000 Florida general election. The (premature) deployment of e-voting machines stimulated a new field of security and privacy research around the subject of elections, a subject that has turned out to be more complex and deeper than anyone would have predicted a decade ago. Here we present a sample of some of the finest recent work on election technology from authors on three continents.     

Platform Independent Timing of Java Virtual Machine Bytecode Instructions

The accurate measurement of the execution time of Java bytecode is one factor that is important in order to estimate the total execution time of a Java application running on a Java Virtual Machine. In this paper we document the difficulties and solutions for the accurate timing of Java bytecode. We also identify trends across the execution times recorded for all imperative Java bytecodes. These trends would suggest that knowing the execution times of a small subset of the Java bytecode instructions would be sufficient to model the execution times of the remainder. We first review a statistical approach for achieving high precision timing results for Java bytecode using low precision timers and then present a more suitable technique using homogeneous bytecode sequences for recording such information. We finally compare instruction execution times acquired using this platform independent technique against execution times recorded using the read time stamp counter assembly instruction. In particular our results show the existence of a strong linear correlation between both techniques.