Adaptation Accelerating Sampling-based Bayesian Inference in Attractor Neural Networks

The brain performs probabilistic Bayesian inference to interpret the external world. The sampling-based view assumes that the brain represents the stimulus posterior distribution via samples of stochastic neuronal responses. Although the idea of sampling-based inference is appealing, it faces a critical challenge of whether stochastic sampling is fast enough to match the rapid computation of the brain. In this study, we explore how latent feature sampling can be accelerated in neural circuits. Specifically, we consider a canonical neural circuit model called continuous attractor neural networks (CANNs) and investigate how sampling-based inference of latent continuous variables is accelerated in CANNs. Intriguingly, we find that by including noisy adaptation in the neuronal dynamics, the CANN is able to speed up the sampling process significantly. We theoretically derive that the CANN with noisy adaptation implements the efficient sampling method called Hamiltonian dynamics with friction, where noisy adaption effectively plays the role of momentum. We theoretically analyze the sampling performances of the network and derive the condition when the acceleration has the maximum effect. Simulation results validate our theoretical analyses. We further extend the model to coupled CANNs and demonstrate that noisy adaptation accelerates the sampling of the posterior distribution of multivariate stimuli. We hope that this study enhances our understanding of how Bayesian inference is realized in the brain

Advances in Human-Robot Interaction

Rapid advances in the field of robotics have made it possible to use robots not just in industrial automation but also in entertainment, rehabilitation, and home service. Since robots will likely affect many aspects of human existence, fundamental questions of human-robot interaction must be formulated and, if at all possible, resolved. Some of these questions are addressed in this collection of papers by leading HRI researchers

Dynamic operator interaction with multi-modal automation systems

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2011.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.Cataloged from student-submitted PDF version of thesis.Includes bibliographical references (p. 103-114).The ability of operators to "gracefully transition" (maintaining control and awareness of the system without excessive workload or decrements in flight performance) between levels of automation (LOA) in several case studies and in a simulated lunar landing was investigated in anticipation of future lunar missions. Endsley's situation awareness model (extended to apply to supervisory control systems) and the Sheridan/Verplank and Proud/Hart LOA scales were used to analyze six maritime, aviation, and aerospace case studies and formulate design guidelines for enhancing mode transitions. These motivated an experiment in which thirteen subjects with flight simulator experience flew 24 approach trajectories (half including a landing point redesignation) that transitioned from a fully automatic flight control mode to either: pitch rate-control/attitude hold (RC/AH) with automatic rate-of-descent (ROD), roll-pitch-yaw (RPY) RC/AH with automatic ROD, or RPY RC/AH with incremental ROD. Subjective and objective workloads were measured using a Modified Bedford Scale and secondary task response time, respectively. A tertiary task - verbal callouts of altitude, fuel, and location, provided a measure of pilot situation awareness. Flight performance was evaluated using the pitch axis tracking error. Friedman pairwise tests demonstrated that secondary task response time significantly increased following the mode transition. Subjects' workload ratings, when ranked, showed unanimous agreement that workload was lowest prior to the transition, and highest during. The accuracy of the situation awareness verbal callouts decreased significantly after the transition. The immediate effect of redesignation was statistically concordant across subjects. Pitch axis tracking mean square error following a mode transition was greater in trials with redesignations (p = 0.0005), and increased consistently with control mode difficulty (p = 0.025) in runs with no redesignation, but not in runs with redesignations. Using callouts to assess the dynamics of situation awareness is a novel technique. Dramatic changes in subjective and objective workload and situation awareness occur after mode transitions, depending on control mode difficulty, that have an apparently reciprocal relationship. The case studies and experimental results suggested a dozen guidelines for design of supervisory control systems intended to promote transition gracefulness.by Christopher James Hainley, Jr.S.M

Measuring Sociality in Driving Interaction

Interacting with other human road users is one of the most challenging tasks for autonomous vehicles. For congruent driving behaviors, it is essential to recognize and comprehend sociality, encompassing both implicit social norms and individualized social preferences of human drivers. To understand and quantify the complex sociality in driving interactions, we propose a Virtual-Game-based Interaction Model (VGIM) that is parameterized by a social preference measurement, Interaction Preference Value (IPV). The IPV is designed to capture the driver's relative inclination towards individual rewards over group rewards. A method for identifying IPV from observed driving trajectory is also developed, with which we assessed human drivers' IPV using driving data recorded in a typical interactive driving scenario, the unprotected left turn. Our findings reveal that (1) human drivers exhibit particular social preference patterns while undertaking specific tasks, such as turning left or proceeding straight; (2) competitive actions could be strategically conducted by human drivers in order to coordinate with others. Finally, we discuss the potential of learning sociality-aware navigation from human demonstrations by incorporating a rule-based humanlike IPV expressing strategy into VGIM and optimization-based motion planners. Simulation experiments demonstrate that (1) IPV identification improves the motion prediction performance in interactive driving scenarios and (2) the dynamic IPV expressing strategy extracted from human driving data makes it possible to reproduce humanlike coordination patterns in the driving interaction

Mastering Uncertainty in Mechanical Engineering

This open access book reports on innovative methods, technologies and strategies for mastering uncertainty in technical systems. Despite the fact that current research on uncertainty is mainly focusing on uncertainty quantification and analysis, this book gives emphasis to innovative ways to master uncertainty in engineering design, production and product usage alike. It gathers authoritative contributions by more than 30 scientists reporting on years of research in the areas of engineering, applied mathematics and law, thus offering a timely, comprehensive and multidisciplinary account of theories and methods for quantifying data, model and structural uncertainty, and of fundamental strategies for mastering uncertainty. It covers key concepts such as robustness, flexibility and resilience in detail. All the described methods, technologies and strategies have been validated with the help of three technical systems, i.e. the Modular Active Spring-Damper System, the Active Air Spring and the 3D Servo Press, which have been in turn developed and tested during more than ten years of cooperative research. Overall, this book offers a timely, practice-oriented reference guide to graduate students, researchers and professionals dealing with uncertainty in the broad field of mechanical engineering

Can the Wound Be Taken at Its Word?: Performed Trauma in Don DeLillo\u27s The Body Artist and Falling Man

Two of Don DeLillo’s recently published novels, The Body Artist (2001) and Falling Man (2007), feature performance artists performing trauma. Through the bodies of these performers, DeLillo restates the central concern of trauma studies: if trauma is that which denies mediation, how may we speak about traumatic experience? DeLillo’s stagings of traumatic (re)iterations illustrate how the missed originary moment of trauma precludes directly referential content in traumatic representation. But I propose that performed trauma – the knowledge of forgetting addressed to another – recapitulates the structure of traumatic experience itself, thereby revealing trauma to be wholly constituted in repetition, and providing a means of speaking about the unspeakable. I hope to illustrate how restoring trauma to language revives the ethical and political efficacy of traumatic representation

How The Waltz Has Won: Towards A Waltz Aesthetic

This dissertation examines the development of ballroom dancing aesthetics between 1860 and 1915, focusing on the appropriation, neutralization, and commodification of African American somatic performance by various European American agents/actors. The study suggests that the waltz, a dance form that was in decline at the beginning of the twentieth century, became a vital component of European American strategies to safely encapsulate certain elements of African American aesthetics while eliminating others. This negotiation of African American aesthetics into European American performance is presented as a part of a broader discourse concerned with the maintenance of white hegemony during this period. The work is grounded in the field theory best articulated by Pierre Bourdieu, and the critical race theories of Michal Omi and Howard Winant. From Bourdieu the work draws upon three key terms: habitus, codes of perception, and hexis. Taken together these terms provide the structure for contextualizing the choices made by dancers, dancing teachers, and social reformers who were concerned with modifying ballroom dance forms that had been influenced by African American aesthetics. Omi and Winant's work provide a matrix for understanding the choices of these diverse individuals and organizations as a racial project embedded in a discourse of white hegemony that, even at its most progressive, sought to maintain the hegemony of white, European American culture