Planning Graph Heuristics for Belief Space Search

Some recent works in conditional planning have proposed reachability heuristics to improve planner scalability, but many lack a formal description of the properties of their distance estimates. To place previous work in context and extend work on heuristics for conditional planning, we provide a formal basis for distance estimates between belief states. We give a definition for the distance between belief states that relies on aggregating underlying state distance measures. We give several techniques to aggregate state distances and their associated properties. Many existing heuristics exhibit a subset of the properties, but in order to provide a standardized comparison we present several generalizations of planning graph heuristics that are used in a single planner. We compliment our belief state distance estimate framework by also investigating efficient planning graph data structures that incorporate BDDs to compute the most effective heuristics. We developed two planners to serve as test-beds for our investigation. The first, CAltAlt, is a conformant regression planner that uses A* search. The second, POND, is a conditional progression planner that uses AO* search. We show the relative effectiveness of our heuristic techniques within these planners. We also compare the performance of these planners with several state of the art approaches in conditional planning

One-year follow-up of family versus child CBT for anxiety disorders: Exploring the roles of child age and parental intrusiveness.

ObjectiveTo compare the relative long-term benefit of family-focused cognitive behavioral therapy (FCBT) and child-focused cognitive behavioral therapy (CCBT) for child anxiety disorders at a 1-year follow-up.MethodThirty-five children (6-13 years old) randomly assigned to 12-16 sessions of family-focused CBT (FCBT) or child-focused CBT (CCBT) participated in a 1-year follow-up assessment. Independent evaluators, parents, and children rated anxiety and parental intrusiveness. All were blind to treatment condition and study hypotheses.ResultsChildren assigned to FCBT had lower anxiety scores than children assigned to CCBT on follow-up diagnostician- and parent-report scores, but not child-report scores. Exploratory analyses suggested the advantage of FCBT over CCBT may have been evident more for early adolescents than for younger children and that reductions in parental intrusiveness may have mediated the treatment effect.ConclusionFCBT may yield a stronger treatment effect than CCBT that lasts for at least 1 year, although the lack of consistency across informants necessitates a circumspect view of the findings. The potential moderating and mediating effects considered in this study offer interesting avenues for further study

Psychosocial Intervention Is Associated with Altered Emotion Processing: An Event-Related Potential Study in At-Risk Adolescents

Emotion processing is vital for healthy adolescent development, and impaired emotional responses are associated with a number of psychiatric disorders. However, it is unclear whether observed differences between psychiatric populations and healthy controls reflect modifiable variations in functioning (and thus could be sensitive to changes resulting from intervention) or stable, non-modifiable, individual differences. The current study therefore investigated whether the Late Positive Potential (LPP; a neural index of emotion processing) can be used as a marker of therapeutic change following psycho-social intervention. At-risk male adolescents who had received less than four months intervention (minimal-intervention, N = 32) or more than nine months intervention (extended-intervention, N = 32) passively viewed emotional images whilst neural activity was recorded using electroencephalography. Significant differences in emotion processing, indicated by the LPP, were found between the two groups: the LPP did not differ according to valence in the minimal-intervention group, whereas the extended-intervention participants showed emotion processing in line with low risk populations (enhanced LPP for unpleasant images versus other images). Further, an inverse relationship between emotional reactivity (measured via the LPP) and antisocial behaviour was observed in minimal-intervention participants only. The data therefore provide preliminary cross-sectional evidence that abnormal neural responses to emotional information may be normalised following psychosocial intervention. Importantly, this study uniquely suggests that, in future randomised control trials, the LPP may be a useful biomarker to measure development and therapeutic change

Deep Halpha imagery of the Eridanus shells

A deep \ha image of interlocking filamentary arcs of nebulosity has been obtained with a wide-field ($\approx$ 30\degree diameter) narrow-band filter camera combined with a CCD as a detector. The resultant mosaic of images, extending to a galactic latitude of 65$^{o}$, has been corrected for field distortions and had galactic coordinates superimposed on it to permit accurate correlations with the most recent H{\sc i} (21 cm), X-ray (0.75 kev) and FIR (IRAS 100 $\mu$m) maps. Furthermore, an upper limit of 0.13 arcsec/yr to the expansion proper motion of the primary 25\degree long nebulous arc has been obtained by comparing a recent \ha image obtained with the San Pedro Martir telescope of its filamentary edge with that on a POSS E plate obtained in 1951. It is concluded that these filamentary arcs are the superimposed images of separate shells (driven by supernova explosions and/or stellar winds) rather than the edges of a single `superbubble' stretching from Barnard's Arc (and the Orion Nebula) to these high galactic latitudes. The proper motion measurement argues against the primary \ha emitting arc being associated with the giant radio loop (Loop 2) except in extraordinary circumstances.Comment: 9 pages, 5 figures, accepted for MNRAS publicatio

The creation of the Helix planetary nebula (NGC 7293) by multiple events

A deep, continuum-subtracted, image of NGC 7293 has been obtained in the light of the Halpha+[N II] emission lines. New images of two filamentary halo stuctures have been obtained and the possible detection of a collimated outflow made. Spatially resolved, longslit profiles of the Halpha+[N II] lines have been observed across several of these features with the MES combined with the SPM 2.1m telescope; these are compared with the [N II]6584, [O III]5007, HeII 6560 and Halpha profiles obtained over the nebular core. The central HeII emission is originating in a ~0.34pc diameter spherical volume expanding at <=12km/s which is surrounded, and partially coincident with an [O III] emitting inner shell expanding at 12km/s. The bright helical structure surrounding this inner region is modelled as a bi-polar nebula with lobe expansions of 25km/s whose axis is tilted at 37deg to the sight line but with a toroidal waist itself expanding at 14 km/s. These observations are compared with the expectations of the interacting two winds model for the formation of PNe. Only after the fast wind has switched off could this global velocity structure be generated. Ablated flows must complicate any interpretation. It is suggested that the clumpy nature of much of the material could play a part in creating the radial `spokes' shown here to be apparently present close to the central star. These `spokes' could in fact be the persistant tails of cometary globules whose heads have now photo-evaporated completely. A halo arc projecting from the north-east of the bright core has a conterpart to the south-east. Anomolies in the position-velocity arrays of line profiles could suggest that these are part of an expanding disc not aligned with the central helical structure though expanding bi-polar lobes along a tilted axis are not ruled out.Comment: 17 pages, 11 figures, accepted for publication in MNRA