Introduction: The Third International Conference on Epigenetic Robotics

This paper summarizes the paper and poster contributions to the Third International Workshop on Epigenetic Robotics. The focus of this workshop is on the cross-disciplinary interaction of developmental psychology and robotics. Namely, the general goal in this area is to create robotic models of the psychological development of various behaviors. The term "epigenetic" is used in much the same sense as the term "developmental" and while we could call our topic "developmental robotics", developmental robotics can be seen as having a broader interdisciplinary emphasis. Our focus in this workshop is on the interaction of developmental psychology and robotics and we use the phrase "epigenetic robotics" to capture this focus

Basic gestures as spatiotemporal reference frames for repetitive dance/music patterns in samba and charleston

THE GOAL OF THE PRESENT STUDY IS TO GAIN BETTER insight into how dancers establish, through dancing, a spatiotemporal reference frame in synchrony with musical cues. With the aim of achieving this, repetitive dance patterns of samba and Charleston were recorded using a three-dimensional motion capture system. Geometric patterns then were extracted from each joint of the dancer's body. The method uses a body-centered reference frame and decomposes the movement into non-orthogonal periodicities that match periods of the musical meter. Musical cues (such as meter and loudness) as well as action-based cues (such as velocity) can be projected onto the patterns, thus providing spatiotemporal reference frames, or 'basic gestures,' for action-perception couplings. Conceptually speaking, the spatiotemporal reference frames control minimum effort points in action-perception couplings. They reside as memory patterns in the mental and/or motor domains, ready to be dynamically transformed in dance movements. The present study raises a number of hypotheses related to spatial cognition that may serve as guiding principles for future dance/music studies

The spatiotemporal representation of dance and music gestures using topological gesture analysis (TGA)

SPATIOTEMPORAL GESTURES IN MUSIC AND DANCE HAVE been approached using both qualitative and quantitative research methods. Applying quantitative methods has offered new perspectives but imposed several constraints such as artificial metric systems, weak links with qualitative information, and incomplete accounts of variability. In this study, we tackle these problems using concepts from topology to analyze gestural relationships in space. The Topological Gesture Analysis (TGA) relies on the projection of musical cues onto gesture trajectories, which generates point clouds in a three-dimensional space. Point clouds can be interpreted as topologies equipped with musical qualities, which gives us an idea about the relationships between gesture, space, and music. Using this method, we investigate the relationships between musical meter, dance style, and expertise in two popular dances (samba and Charleston). The results show how musical meter is encoded in the dancer's space and how relevant information about styles and expertise can be revealed by means of simple topological relationships

SculptBot: Pre-Trained Models for 3D Deformable Object Manipulation

Deformable object manipulation presents a unique set of challenges in robotic manipulation by exhibiting high degrees of freedom and severe self-occlusion. State representation for materials that exhibit plastic behavior, like modeling clay or bread dough, is also difficult because they permanently deform under stress and are constantly changing shape. In this work, we investigate each of these challenges using the task of robotic sculpting with a parallel gripper. We propose a system that uses point clouds as the state representation and leverages pre-trained point cloud reconstruction Transformer to learn a latent dynamics model to predict material deformations given a grasp action. We design a novel action sampling algorithm that reasons about geometrical differences between point clouds to further improve the efficiency of model-based planners. All data and experiments are conducted entirely in the real world. Our experiments show the proposed system is able to successfully capture the dynamics of clay, and is able to create a variety of simple shapes

Aquatic Invertebrates of the Devereux Slough - 2018

In 2018, the hardscape construction of NCOS (North Campus Open Space), a restored wetland on the Northern border of COPR (Coal Oil Point Reserve), was completed, thus approximately doubling the overall size of the wetland and offering the rather unique opportunity of being able to compare the two side-by-side.  Basic water quality and aquatic invertebrate monitoring of both sites were undertaken to better understand the dynamics of how a newly constructed wetland developed into an established wetland.The surprising result of this first year of monitoring is that COPR and NCOS were more or less equivalent in species richness and abundance, with the Shannon-Wiener Index giving a slight nod to NCOS for more diversity and Evenness in the data.Four taxa are the most significant contributors to the total taxa observed – Copepods, Ostracods, Cladocera, and Corixidae.  Additionally, we found Chironomids, Ceratopogonidae, Ephydridae, and Nematodes in significant abundance.Sampling protocols were evaluated indicating that sampling in algae gives more than an order-of-magnitude greater abundance and diversity than in sampling in open water and that the Filtered Beaker method gives more precise species density information than the Sweep-Net method; when sampling at shallower depths where the Sweep-Net is not fully submerged.Additionally, the effect on other aquatic invertebrates of the use of VectoBac for mosquito abatement was looked at – indicating a minimum, if any, affect

Management and display of four-dimensional environmental data sets using McIDAS

Over the past four years, great strides have been made in the areas of data management and display of 4-D meteorological data sets. A survey was conducted of available and planned 4-D meteorological data sources. The data types were evaluated for their impact on the data management and display system. The requirements were analyzed for data base management generated by the 4-D data display system. The suitability of the existing data base management procedures and file structure were evaluated in light of the new requirements. Where needed, new data base management tools and file procedures were designed and implemented. The quality of the basic 4-D data sets was assured. The interpolation and extrapolation techniques of the 4-D data were investigated. The 4-D data from various sources were combined to make a uniform and consistent data set for display purposes. Data display software was designed to create abstract line graphic 3-D displays. Realistic shaded 3-D displays were created. Animation routines for these displays were developed in order to produce a dynamic 4-D presentation. A prototype dynamic color stereo workstation was implemented. A computer functional design specification was produced based on interactive studies and user feedback