3,555 research outputs found

    Undergraduate Catalog of Studies, 2023-2024

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    Muscle-controlled physics simulations of the emu (a large running bird) resolve grounded running paradox

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    AbstractHumans and birds utilize very different running styles. Unlike humans, birds adopt “grounded running” at intermediate speeds – a running gait where at least one foot is always in contact with the ground. Avian grounded running is paradoxical: animals tend to minimize locomotor energy expenditure, but birds prefer grounded running despite incurring higher energy costs. Using predictive gait simulations of the emu (Dromaius novaehollandiae), we resolve this paradox by demonstrating that grounded running represents an energetic optimum for birds. Our virtual experiments decoupled biomechanically relevant anatomical features that cannot be isolated in a real bird. The avian body plan prevents (near) vertical leg postures while running, making the running style used by humans impossible. Under this anatomical constraint, grounded running is optimal if the muscles produce the highest forces in crouched postures, as is true in most birds. Anatomical similarities between birds and non-avian dinosaurs suggest that, as a behavior, avian grounded running first evolved within non-avian theropods.</jats:p

    Non-Market Food Practices Do Things Markets Cannot: Why Vermonters Produce and Distribute Food That\u27s Not For Sale

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    Researchers tend to portray food self-provisioning in high-income societies as a coping mechanism for the poor or a hobby for the well-off. They describe food charity as a regrettable band-aid. Vegetable gardens and neighborly sharing are considered remnants of precapitalist tradition. These are non-market food practices: producing food that is not for sale and distributing food in ways other than selling it. Recent scholarship challenges those standard understandings by showing (i) that non-market food practices remain prevalent in high-income countries, (ii) that people in diverse social groups engage in these practices, and (iii) that they articulate diverse reasons for doing so. In this dissertation, I investigate the persistent pervasiveness of non-market food practices in Vermont. To go beyond explanations that rely on individual motivation, I examine the roles these practices play in society. First, I investigate the prevalence of non-market food practices. Several surveys with large, representative samples reveal that more than half of Vermont households grow, hunt, fish, or gather some of their own food. Respondents estimate that they acquire 14% of the food they consume through non-market means, on average. For reference, commercial local food makes up about the same portion of total consumption. Then, drawing on the words of 94 non-market food practitioners I interviewed, I demonstrate that these practices serve functions that markets cannot. Interviewees attested that non-market distribution is special because it feeds the hungry, strengthens relationships, builds resilience, puts edible-but-unsellable food to use, and aligns with a desired future in which food is not for sale. Hunters, fishers, foragers, scavengers, and homesteaders said that these activities contribute to their long-run food security as a skills-based safety net. Self-provisioning allows them to eat from the landscape despite disruptions to their ability to access market food such as job loss, supply chain problems, or a global pandemic. Additional evidence from vegetable growers suggests that non-market settings liberate production from financial discipline, making space for work that is meaningful, playful, educational, and therapeutic. Non-market food practices mend holes in the social fabric torn by the commodification of everyday life. Finally, I synthesize scholarly critiques of markets as institutions for organizing the production and distribution of food. Markets send food toward money rather than hunger. Producing for market compels farmers to prioritize financial viability over other values such as stewardship. Historically, people rarely if ever sell each other food until external authorities coerce them to do so through taxation, indebtedness, cutting off access to the means of subsistence, or extinguishing non-market institutions. Today, more humans than ever suffer from chronic undernourishment even as the scale of commercial agriculture pushes environmental pressures past critical thresholds of planetary sustainability. This research substantiates that alternatives to markets exist and have the potential to address their shortcomings

    LIPIcs, Volume 251, ITCS 2023, Complete Volume

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    LIPIcs, Volume 251, ITCS 2023, Complete Volum

    Exploring the effects of robotic design on learning and neural control

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    The ongoing deep learning revolution has allowed computers to outclass humans in various games and perceive features imperceptible to humans during classification tasks. Current machine learning techniques have clearly distinguished themselves in specialized tasks. However, we have yet to see robots capable of performing multiple tasks at an expert level. Most work in this field is focused on the development of more sophisticated learning algorithms for a robot's controller given a largely static and presupposed robotic design. By focusing on the development of robotic bodies, rather than neural controllers, I have discovered that robots can be designed such that they overcome many of the current pitfalls encountered by neural controllers in multitask settings. Through this discovery, I also present novel metrics to explicitly measure the learning ability of a robotic design and its resistance to common problems such as catastrophic interference. Traditionally, the physical robot design requires human engineers to plan every aspect of the system, which is expensive and often relies on human intuition. In contrast, within the field of evolutionary robotics, evolutionary algorithms are used to automatically create optimized designs, however, such designs are often still limited in their ability to perform in a multitask setting. The metrics created and presented here give a novel path to automated design that allow evolved robots to synergize with their controller to improve the computational efficiency of their learning while overcoming catastrophic interference. Overall, this dissertation intimates the ability to automatically design robots that are more general purpose than current robots and that can perform various tasks while requiring less computation.Comment: arXiv admin note: text overlap with arXiv:2008.0639

    Undergraduate Catalog of Studies, 2022-2023

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    Advances and Applications of DSmT for Information Fusion. Collected Works, Volume 5

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    This fifth volume on Advances and Applications of DSmT for Information Fusion collects theoretical and applied contributions of researchers working in different fields of applications and in mathematics, and is available in open-access. The collected contributions of this volume have either been published or presented after disseminating the fourth volume in 2015 in international conferences, seminars, workshops and journals, or they are new. The contributions of each part of this volume are chronologically ordered. First Part of this book presents some theoretical advances on DSmT, dealing mainly with modified Proportional Conflict Redistribution Rules (PCR) of combination with degree of intersection, coarsening techniques, interval calculus for PCR thanks to set inversion via interval analysis (SIVIA), rough set classifiers, canonical decomposition of dichotomous belief functions, fast PCR fusion, fast inter-criteria analysis with PCR, and improved PCR5 and PCR6 rules preserving the (quasi-)neutrality of (quasi-)vacuous belief assignment in the fusion of sources of evidence with their Matlab codes. Because more applications of DSmT have emerged in the past years since the apparition of the fourth book of DSmT in 2015, the second part of this volume is about selected applications of DSmT mainly in building change detection, object recognition, quality of data association in tracking, perception in robotics, risk assessment for torrent protection and multi-criteria decision-making, multi-modal image fusion, coarsening techniques, recommender system, levee characterization and assessment, human heading perception, trust assessment, robotics, biometrics, failure detection, GPS systems, inter-criteria analysis, group decision, human activity recognition, storm prediction, data association for autonomous vehicles, identification of maritime vessels, fusion of support vector machines (SVM), Silx-Furtif RUST code library for information fusion including PCR rules, and network for ship classification. Finally, the third part presents interesting contributions related to belief functions in general published or presented along the years since 2015. These contributions are related with decision-making under uncertainty, belief approximations, probability transformations, new distances between belief functions, non-classical multi-criteria decision-making problems with belief functions, generalization of Bayes theorem, image processing, data association, entropy and cross-entropy measures, fuzzy evidence numbers, negator of belief mass, human activity recognition, information fusion for breast cancer therapy, imbalanced data classification, and hybrid techniques mixing deep learning with belief functions as well

    An Investigation Into Optimal Descent Trajectories for Multipurpose Long Range Space Vehicles Under Advanced Conditions

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    In this work, we investigate the problem of fuel-optimal control of space vehicle descent trajectories. The main tool we use to establish optimality is Pontryagin’s Maximum Principle. We present a variety of scenarios with increasing complexities, including drag, wind, and moving landing platforms in the context of differing atmospheric and gravitational conditions. Throughout the paper, we use a balance of analytical and numerical techniques. Finally, observations and conclusions drawn from the investigation form the basis for suggestions into additional areas of analysis

    Probabilistic Inference for Model Based Control

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    Robotic systems are essential for enhancing productivity, automation, and performing hazardous tasks. Addressing the unpredictability of physical systems, this thesis advances robotic planning and control under uncertainty, introducing learning-based methods for managing uncertain parameters and adapting to changing environments in real-time. Our first contribution is a framework using Bayesian statistics for likelihood-free inference of model parameters. This allows employing complex simulators for designing efficient, robust controllers. The method, integrating the unscented transform with a variant of information theoretical model predictive control, shows better performance in trajectory evaluation compared to Monte Carlo sampling, easing the computational load in various control and robotics tasks. Next, we reframe robotic planning and control as a Bayesian inference problem, focusing on the posterior distribution of actions and model parameters. An implicit variational inference algorithm, performing Stein Variational Gradient Descent, estimates distributions over model parameters and control inputs in real-time. This Bayesian approach effectively handles complex multi-modal posterior distributions, vital for dynamic and realistic robot navigation. Finally, we tackle diversity in high-dimensional spaces. Our approach mitigates underestimation of uncertainty in posterior distributions, which leads to locally optimal solutions. Using the theory of rough paths, we develop an algorithm for parallel trajectory optimisation, enhancing solution diversity and avoiding mode collapse. This method extends our variational inference approach for trajectory estimation, employing diversity-enhancing kernels and leveraging path signature representation of trajectories. Empirical tests, ranging from 2-D navigation to robotic manipulators in cluttered environments, affirm our method's efficiency, outperforming existing alternatives
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