Crossmodal content binding in information-processing architectures

Operating in a physical context, an intelligent robot faces two fundamental problems. First, it needs to combine information from its different sensors to form a representation of the environment that is more complete than any of its sensors on its own could provide. Second, it needs to combine high-level representations (such as those for planning and dialogue) with its sensory information, to ensure that the interpretations of these symbolic representations are grounded in the situated context. Previous approaches to this problem have used techniques such as (low-level) information fusion, ontological reasoning, and (high-level) concept learning. This paper presents a framework in which these, and other approaches, can be combined to form a shared representation of the current state of the robot in relation to its environment and other agents. Preliminary results from an implemented system are presented to illustrate how the framework supports behaviours commonly required of an intelligent robot

Searching for Effective Forces in Laboratory Insect Swarms

Collective animal behaviour is often modeled by systems of agents that interact via effective social forces, including short-range repulsion and long-range attraction. We search for evidence of such effective forces by studying laboratory swarms of the flying midge Chironomus riparius. Using multi-camera stereoimaging and particle-tracking techniques, we record three-dimensional trajectories for all the individuals in the swarm. Acceleration measurements show a clear short-range repulsion, which we confirm by considering the spatial statistics of the midges, but no conclusive long-range interactions. Measurements of the mean free path of the insects also suggest that individuals are on average very weakly coupled, but that they are also tightly bound to the swarm itself. Our results therefore suggest that some attractive interaction maintains cohesion of the swarms, but that this interaction is not as simple as an attraction to nearest neighbours

Attitudes toward Marriage, Divorce, Cohabitation, and Casual Sex among Working-Age Latinos: Does Religion Matter?

The rapid growth of the Latino population in the United States has renewed interest in Latino family research. It has often been assumed that Catholicism is a key factor influencing Latinos’ attitudes toward the family, despite the fact that nearly one third of Latinos are not Catholic. This article uses data from the 2006 National Survey of Religion and Family Life, a survey of working-age adults (aged 18-59 years) in the lower 48 states, to explore the relationship between multiple dimensions of religiosity—denomination, church attendance, prayer, and beliefs about the Bible—and Latinos’ attitudes regarding marriage, divorce, cohabitation, and casual sex. Compared with Catholics, evangelical Protestants tend to hold more conservative attitudes on family-related issues. Latinos who attend services regularly and pray frequently also report more traditional views. Findings involving literalist views of the Bible are more equivocal. Taken together, religious variables are just as potent as socioeconomic and demographic factors in explaining individual-level variation in Latinos’ attitudes. Study limitations are noted, and several directions for future research are identified

Self-consistent simulations of a von K\'arm\'an type dynamo in a spherical domain with metallic walls

We have performed numerical simulations of boundary-driven dynamos using a three-dimensional non-linear magnetohydrodynamical model in a spherical shell geometry. A conducting fluid of magnetic Prandtl number Pm=0.01 is driven into motion by the counter-rotation of the two hemispheric walls. The resulting flow is of von K\'arm\'an type, consisting of a layer of zonal velocity close to the outer wall and a secondary meridional circulation. Above a certain forcing threshold, the mean flow is unstable to non-axisymmetric motions within an equatorial belt. For fixed forcing above this threshold, we have studied the dynamo properties of this flow. The presence of a conducting outer wall is essential to the existence of a dynamo at these parameters. We have therefore studied the effect of changing the material parameters of the wall (magnetic permeability, electrical conductivity, and thickness) on the dynamo. In common with previous studies, we find that dynamos are obtained only when either the conductivity or the permeability is sufficiently large. However, we find that the effect of these two parameters on the dynamo process are different and can even compete to the detriment of the dynamo. Our self-consistent approach allow us to analyze in detail the dynamo feedback loop. The dynamos we obtain are typically dominated by an axisymmetric toroidal magnetic field and an axial dipole component. We show that the ability of the outer shear layer to produce a strong toroidal field depends critically on the presence of a conducting outer wall, which shields the fluid from the vacuum outside. The generation of the axisymmetric poloidal field, on the other hand, occurs in the equatorial belt and does not depend on the wall properties.Comment: accepted for publication in Physical Review

Analysis and identification of subsynchronous vibration for a high pressure parallel flow centrifugal compressor

The summary of a complete analytical design evaluation of an existing parallel flow compressor is presented and a field vibration problem that manifested itself as a subsynchronous vibration that tracked at approximately 2/3 of compressor speed is reviewed. The comparison of predicted and observed peak response speeds, frequency spectrum content, and the performance of the bearing-seal systems are presented as the events of the field problem are reviewed. Conclusions and recommendations are made as to the degree of accuracy of the analytical techniques used to evaluate the compressor design

Zero area singularities in general relativity and inverse mean curvature flow

First we restate the definition of a Zero Area Singularity, recently introduced by H. Bray. We then consider several definitions of mass for these singularities. We use the Inverse Mean Curvature Flow to prove some new results about the mass of a singularity, the ADM mass of the manifold, and the capacity of the singularity.Comment: 13 page

Incorporating Feedback from Multiple Sensory Modalities Enhances Brain–Machine Interface Control

The brain typically uses a rich supply of feedback from multiple sensory modalities to control movement in healthy individuals. In many individuals, these afferent pathways, as well as their efferent counterparts, are compromised by disease or injury resulting in significant impairments and reduced quality of life. Brain–machine interfaces (BMIs) offer the promise of recovered functionality to these individuals by allowing them to control a device using their thoughts. Most current BMI implementations use visual feedback for closed-loop control; however, it has been suggested that the inclusion of additional feedback modalities may lead to improvements in control. We demonstrate for the first time that kinesthetic feedback can be used together with vision to significantly improve control of a cursor driven by neural activity of the primary motor cortex (MI). Using an exoskeletal robot, the monkey\u27s arm was moved to passively follow a cortically controlled visual cursor, thereby providing the monkey with kinesthetic information about the motion of the cursor. When visual and proprioceptive feedback were congruent, both the time to successfully reach a target decreased and the cursor paths became straighter, compared with incongruent feedback conditions. This enhanced performance was accompanied by a significant increase in the amount of movement-related information contained in the spiking activity of neurons in MI. These findings suggest that BMI control can be significantly improved in paralyzed patients with residual kinesthetic sense and provide the groundwork for augmenting cortically controlled BMIs with multiple forms of natural or surrogate sensory feedback

Improving Brain–Machine Interface Performance by Decoding Intended Future Movements

Objective. A brain–machine interface (BMI) records neural signals in real time from a subject\u27s brain, interprets them as motor commands, and reroutes them to a device such as a robotic arm, so as to restore lost motor function. Our objective here is to improve BMI performance by minimizing the deleterious effects of delay in the BMI control loop. We mitigate the effects of delay by decoding the subject\u27s intended movements a short time lead in the future. Approach. We use the decoded, intended future movements of the subject as the control signal that drives the movement of our BMI. This should allow the user\u27s intended trajectory to be implemented more quickly by the BMI, reducing the amount of delay in the system. In our experiment, a monkey (Macaca mulatta) uses a future prediction BMI to control a simulated arm to hit targets on a screen. Main Results. Results from experiments with BMIs possessing different system delays (100, 200 and 300 ms) show that the monkey can make significantly straighter, faster and smoother movements when the decoder predicts the user\u27s future intent. We also characterize how BMI performance changes as a function of delay, and explore offline how the accuracy of future prediction decoders varies at different time leads. Significance. This study is the first to characterize the effects of control delays in a BMI and to show that decoding the user\u27s future intent can compensate for the negative effect of control delay on BMI performance

Reflective Ghost Imaging through Turbulence

Recent work has indicated that ghost imaging may have applications in standoff sensing. However, most theoretical work has addressed transmission-based ghost imaging. To be a viable remote-sensing system, the ghost imager needs to image rough-surfaced targets in reflection through long, turbulent optical paths. We develop, within a Gaussian-state framework, expressions for the spatial resolution, image contrast, and signal-to-noise ratio of such a system. We consider rough-surfaced targets that create fully developed speckle in their returns, and Kolmogorov-spectrum turbulence that is uniformly distributed along all propagation paths. We address both classical and nonclassical optical sources, as well as a computational ghost imager.Comment: 13 pages, 3 figure

Resuscitation-promoting factors possess a lysozyme-like domain

The novel bacterial cytokine family – resuscitation-promoting factors (Rpfs) – share a conserved domain of uncharacterized function. Predicting the structure of this domain suggests that Rpfs possess a lysozyme-like domain. The model highlights the good conservation of residues involved in catalysis and substrate binding. A lysozyme-like function makes sense for this domain in the light of experimental characterization of the biological function of Rpfs