Comparative Experimental Studies on Spatial Memory and Learning in Rats and Robots

The study of behavioral and neurophysiological mechanisms involved in rat spatial cognition provides a basis for the development of computational models and robotic experimentation of goal-oriented learning tasks. These models and robotics architectures offer neurobiologists and neuroethologists alternative platforms to study, analyze and predict spatial cognition based behaviors. In this paper we present a comparative analysis of spatial cognition in rats and robots by contrasting similar goal-oriented tasks in a cyclical maze, where studies in rat spatial cognition are used to develop computational system-level models of hippocampus and striatum integrating kinesthetic and visual information to produce a cognitive map of the environment and drive robot experimentation. During training, Hebbian learning and reinforcement learning, in the form of Actor-Critic architecture, enable robots to learn the optimal route leading to a goal from a designated fixed location in the maze. During testing, robots exploit maximum expectations of reward stored within the previously acquired cognitive map to reach the goal from different starting positions. A detailed discussion of comparative experiments in rats and robots is presented contrasting learning latency while characterizing behavioral procedures during navigation such as errors associated with the selection of a non-optimal route, body rotations, normalized length of the traveled path, and hesitations. Additionally, we present results from evaluating neural activity in rats through detection of the immediate early gene Arc to verify the engagement of hippocampus and striatum in information processing while solving the cyclical maze task, such as robots use our corresponding models of those neural structures.     

Template-based quadrilateral mesh generation from imaging data

This paper describes a novel template-based meshing approach for generating good quality quadrilateral meshes from 2D digital images. This approach builds upon an existing image-based mesh generation technique called Imeshp, which enables us to create a segmented triangle mesh from an image without the need for an image segmentation step. Our approach generates a quadrilateral mesh using an indirect scheme, which converts the segmented triangle mesh created by the initial steps of the Imesh technique into a quadrilateral one. The triangle-to-quadrilateral conversion makes use of template meshes of triangles. To ensure good element quality, the conversion step is followed by a smoothing step, which is based on a new optimization-based procedure. We show several examples of meshes generated by our approach, and present a thorough experimental evaluation of the quality of the meshes given as examples.     

Better and Simpler Approximation Algorithms for?the?Stable Marriage Problem

We first consider the problem of finding a maximum size stable matching if incomplete lists and ties are both allowed, but ties are on one side only. For this problem we give a simple, linear time 3/2-approximation algorithm, improving on the best known approximation factor 5/3 of Irving and Manlove (J. Comb. Optim., doi:10.1007/s10878-007-9133-x, 2007). Next, we show how this extends to the Hospitals/Residents problem with the same ratio if the residents have strict orders. We also give a simple linear time algorithm for the general problem with approximation factor 5/3, improving the best known 15/8-approximation algorithm of Iwama, Miyazaki and Yamauchi (SODA ??07: Proceedings of the Eighteenth Annual ACM-SIAM Symposium on Discrete Algorithms, pp.?288?C297, 2007). For the cases considered in this paper it is NP-hard to approximate within a factor of 21/19 by the result of Halldórsson et?al. (ACM Transactions on Algorithms 3(3):30, 2007). Our algorithms not only give better approximation ratios than the cited ones, but are much simpler and run significantly faster. Also we may drop a restriction used in (J. Comb. Optim., doi:10.1007/s10878-007-9133-x, 2007) and the analysis is substantially more moderate. Preliminary versions of this paper appeared in (Király, Egres Technical Report TR-2008-04, www.cs.elte.hu/egres/, 2008; Király in Proceedings of MATCH-UP 2008: Matching Under Preferences??Algorithms and Complexity, Satellite Workshop of ICALP, July 6, 2008, Reykjavík, Iceland, pp.?36?C45, 2008; Király in ESA 2008, Lecture Notes in Computer Science, vol.?5193, pp.?623?C634, 2008). For the related results obtained thenceforth see Sect.?5.     

Experimental determination of the higher electric field level inside an overmoded reverberation chamber using the generalized extreme value distribution

Reverberation chamber (RC), in which a complex electromagnetic environment is created, is of great interest as a versatile test and measurement tool, and its performance is conveniently evaluated through the field statistics. Following a previous paper in which the generalized extreme value (GEV) distribution was proposed to model the maximum field inside an RC, this work presents an experimental validation of the GEV use for the overmoded RC. The electric field is measured with a small sensor for a large number of points inside the RC, and the GEV parameters are accurately estimated. Since the maximum field distribution for this overmoded RC is found to be of reverse Weibull type, the field distribution is right bounded by a higher level that can be determined.     

Reconfigurable handling system

The demand for more versatile assembly and handling systems to facilitate customized production is gaining in importance, especially with regard to the constantly-increasing cost pressure, to expansion of the range of product versions and the shortening of innovation cycles. As a cost-effective approach for frequently changing assembly tasks, a novel manipulation concept has been developed by combining given robot technologies. This new handling system has a modular and adaptable layout, which consists of several mobile arms to manipulate the object in six-dimensional Cartesian space. After grasping, when the arms are attached to the object, the mechanical architecture is similar to parallel manipulators or cooperating robots. As the mounting and gripping points of the arms can easily be changed, the manipulator can be reconfigured so as to match the user’s preferences and needs. In addition to the kinematic adaption the regarding task, the hardware and new functions can be reconfigured as well. Contact elements, measurement and assembly devices as well as testing modules can easily be in integrated in the concept. A modular automatic control concept combined with a self-optimizing planning tool helps the user to find the optimal configuration and realize it in an economic way.     

Adsorption of Helium in a Deformed Pore

The adsorption potential in the interior of an infinite nanopore along the z-axis, with varying radius R(z), is derived as a function of a deformation parameter. Detailed calculations for a carbon nanotube indicate that according to the magnitude of the deformation the potential landscape can be substantially modified, giving rise to regions of weakened confining strength, and even changing the nature of the minima. This modified field may induce thermodynamic instabilities in the adsorbed fluid. A similar situation takes place for other materials, such as alkaline pores with variable cross-section. A general argument can be provided that explains the origin of such instabilities.     

A formulation to model the nonlinear viscoelastic properties of the vascular tissue

Nearly all soft tissues, including the vascular tissue, present a certain degree of viscoelastic material response, which becomes apparent performing multiple relaxation tests over a wide range of strain levels and plotting the resulting stress relaxation curves, nonlinear viscoelasticity of the tissue. Changes in relaxation rate at each strain may occur at multiple strain levels. A constitutive formulation considering the particular features of the vascular tissue, such as anisotropy, together with these nonlinear viscoelastic phenomena is here presented and used to fit stress?Cstretch curves from experimental relaxation tests. This constitutive model was used to fit several data set of in vitro experimental stress relaxation tests performed on ovine and porcine aorta. The good fitting of the experimental data shows the capability of the model to reproduce the viscoelastic response of the vascular tissue.     

Untersuchungen zur Bestimmung der Fluideigenschaften von Kraftstoffdampf-Luft-Gemischen von Kraftfahrzeuganlagen w?hrend der Betankung

This study investigates the methods of calculating the fluid-dynamic properties of fuel-vapour/air-mixtures. It aims to determine models for the calculation of the dynamic viscosity and density of these fuel-vapour/air-mixtures. For this purpose, fuels were analyzed. The data received were collected in a database which was complemented with the temperature-dependent vapour-pressures and dynamic viscosity-properties. Experiments were conducted in order to determine the air-content in the vapour venting from a fuel system during refueling. Based on these data conclusions can be drawn on the composition of the liquid fuel, which allows the assessment of the fuel-vapour and its properties. The results received were subsequently used to develop parametric models for the calculation of the average molecular weight, density and dynamic viscosity of fuel-vapour/air-mixtures.