What are natural concepts? A design perspective

Conceptual spaces have become an increasingly popular modeling tool in cognitive psychology. The core idea of the conceptual spaces approach is that concepts can be represented as regions in similarity spaces. While it is generally acknowledged that not every region in such a space represents a natural concept, it is still an open question what distinguishes those regions that represent natural concepts from those that do not. The central claim of this paper is that natural concepts are represented by the cells of an optimally designed similarity space

Wormholes in de Sitter branes

In this work we present a class of geometries which describes wormholes in a Randall-Sundrum brane model, focusing on de Sitter backgrounds. Maximal extensions of the solutions are constructed and their causal structures are discussed. A perturbative analysis is developed, where matter and gravitational perturbations are studied. Analytical results for the quasinormal spectra are obtained and an extensive numerical survey is conducted. Our results indicate that the wormhole geometries presented are stable.Comment: 10 pages, 7 figure

Control theoretic models of pointing

This article presents an empirical comparison of four models from manual control theory on their ability to model targeting behaviour by human users using a mouse: McRuer’s Crossover, Costello’s Surge, second-order lag (2OL), and the Bang-bang model. Such dynamic models are generative, estimating not only movement time, but also pointer position, velocity, and acceleration on a moment-to-moment basis. We describe an experimental framework for acquiring pointing actions and automatically fitting the parameters of mathematical models to the empirical data. We present the use of time-series, phase space, and Hooke plot visualisations of the experimental data, to gain insight into human pointing dynamics. We find that the identified control models can generate a range of dynamic behaviours that captures aspects of human pointing behaviour to varying degrees. Conditions with a low index of difficulty (ID) showed poorer fit because their unconstrained nature leads naturally to more behavioural variability. We report on characteristics of human surge behaviour (the initial, ballistic sub-movement) in pointing, as well as differences in a number of controller performance measures, including overshoot, settling time, peak time, and rise time. We describe trade-offs among the models. We conclude that control theory offers a promising complement to Fitts’ law based approaches in HCI, with models providing representations and predictions of human pointing dynamics, which can improve our understanding of pointing and inform design

The 1990 Johnson Space Center bibliography of scientific and technical papers

Abstracts are presented of scientific and technical papers written and/or presented by L. B. Johnson Space Center (JSC) authors, including civil servants, contractors, and grantees, during the calendar year of 1990. Citations include conference and symposium presentations, papers published in proceedings or other collective works, seminars, and workshop results, NASA formal report series (including contractually required final reports), and articles published in professional journals

SusOrganic - Development of quality standards and optimised processing methods for organic produce - Final report

The SusOrganic project aimed to develop improved drying and cooling/freezing processes for organic products in terms of sustainability and objective product quality criteria. Initially, the consortium focused on a predefined set products to investigate (fish, meat, fruits and vegetables). Contacting participants in the fruit and vegetable sector showed that there is only little perceived need for making changes for the improvement of the processes. At the same time, it became clear that hops and herb producers (drying) face several challenges in terms of product quality and cost of drying processes. Therefore, the range of products was extended to these products. The results of a consumer survey conducted as part the project showed clearly that consumers trust in the organic label, but also tend to mix up the term organic with regional or fair ­trade. Further, the primary production on farm and not the processing is explicitly included in the consumers’ evaluation of sustainability. Appearance of organic products was found to be one of the least important quality criteria or attributes regarding buying decisions. However, there are indications that an imperfect appearance could be a quality attribute for consumers, as the product then is perceived to be processed without artificial additives. Regarding drying operations, small scale producers in the organic sector often work with old and/or modified techniques and technologies, which often leads to an inefficient drying processes due to high energy consumptions and decreased product quality. Inappropriate air volume flow and distribution often cause inefficient removal of the moisture from the product and heterogeneous drying throughout the bulk. Guidelines for improvement of the physical setup of existing driers as well as designs for new drying operations, including novel drying strategies were developed. Besides chilling and freezing, the innovative idea of superchilling was included into the project.The superchilled cold chain is only a few degrees colder than the refrigeration chain but has a significant impact on the preservation characteristic due to shock frosting of the outer layer of the product and the further distribution of very small ice crystals throughout the product during storage. Super­chilling of organically grown salmon eliminated the demand of ice for transport, resulting in both, a reduction of energy costs and a better value chain performance in terms of carbon foot printing. This is mainly due to the significantly reduced transport volume and weight without the presence of ice. The product quality is not different but the shelf life is extended compared to chilled fish. This means that the high quality of organic salmon can be maintained over a longer time period, which can be helpful,e.g. to reach far distant markets. The same trend was found for superchilled organic meat products such as pork and chicken. The consortium also developed innovative noninvasive measurement and control systems and improved drying strategies and systems for fruits, vegetables, herbs, hops and meat. Those systems are based on changes occurring inside the product and therefore require observation strategies of the product during the drying process. Through auditing campaigns as well as pilot scale drying tests it has been possible to develop optimisation strategies for both herb and hops commodities, which can help reduce microbial spoilage and retain higher levels of volatile product components whilst reducing the energy demands. These results can be applied with modifications to the other commodities under investigation. The environmental and cost performance of superchilling of salmon and drying of meat, fruit and vegetables were also investigated and the findings indicated that both superchilling and drying could improve sustainability of organic food value chains especially in case of far distant markets. An additional outcome of the project, beyond the original scope was the development of a noninvasive, visual sensor based detection system for authenticity checks of meat products in terms of fresh and prefrozen meats

Probabilistic Models of Motor Production

N. Bernstein defined the ability of the central neural system (CNS) to control many degrees of freedom of a physical body with all its redundancy and flexibility as the main problem in motor control. He pointed at that man-made mechanisms usually have one, sometimes two degrees of freedom (DOF); when the number of DOF increases further, it becomes prohibitively hard to control them. The brain, however, seems to perform such control effortlessly. He suggested the way the brain might deal with it: when a motor skill is being acquired, the brain artificially limits the degrees of freedoms, leaving only one or two. As the skill level increases, the brain gradually "frees" the previously fixed DOF, applying control when needed and in directions which have to be corrected, eventually arriving to the control scheme where all the DOF are "free". This approach of reducing the dimensionality of motor control remains relevant even today. One the possibles solutions of the Bernstetin's problem is the hypothesis of motor primitives (MPs) - small building blocks that constitute complex movements and facilitite motor learnirng and task completion. Just like in the visual system, having a homogenious hierarchical architecture built of similar computational elements may be beneficial. Studying such a complicated object as brain, it is important to define at which level of details one works and which questions one aims to answer. David Marr suggested three levels of analysis: 1. computational, analysing which problem the system solves; 2. algorithmic, questioning which representation the system uses and which computations it performs; 3. implementational, finding how such computations are performed by neurons in the brain. In this thesis we stay at the first two levels, seeking for the basic representation of motor output. In this work we present a new model of motor primitives that comprises multiple interacting latent dynamical systems, and give it a full Bayesian treatment. Modelling within the Bayesian framework, in my opinion, must become the new standard in hypothesis testing in neuroscience. Only the Bayesian framework gives us guarantees when dealing with the inevitable plethora of hidden variables and uncertainty. The special type of coupling of dynamical systems we proposed, based on the Product of Experts, has many natural interpretations in the Bayesian framework. If the dynamical systems run in parallel, it yields Bayesian cue integration. If they are organized hierarchically due to serial coupling, we get hierarchical priors over the dynamics. If one of the dynamical systems represents sensory state, we arrive to the sensory-motor primitives. The compact representation that follows from the variational treatment allows learning of a motor primitives library. Learned separately, combined motion can be represented as a matrix of coupling values. We performed a set of experiments to compare different models of motor primitives. In a series of 2-alternative forced choice (2AFC) experiments participants were discriminating natural and synthesised movements, thus running a graphics Turing test. When available, Bayesian model score predicted the naturalness of the perceived movements. For simple movements, like walking, Bayesian model comparison and psychophysics tests indicate that one dynamical system is sufficient to describe the data. For more complex movements, like walking and waving, motion can be better represented as a set of coupled dynamical systems. We also experimentally confirmed that Bayesian treatment of model learning on motion data is superior to the simple point estimate of latent parameters. Experiments with non-periodic movements show that they do not benefit from more complex latent dynamics, despite having high kinematic complexity. By having a fully Bayesian models, we could quantitatively disentangle the influence of motion dynamics and pose on the perception of naturalness. We confirmed that rich and correct dynamics is more important than the kinematic representation. There are numerous further directions of research. In the models we devised, for multiple parts, even though the latent dynamics was factorized on a set of interacting systems, the kinematic parts were completely independent. Thus, interaction between the kinematic parts could be mediated only by the latent dynamics interactions. A more flexible model would allow a dense interaction on the kinematic level too. Another important problem relates to the representation of time in Markov chains. Discrete time Markov chains form an approximation to continuous dynamics. As time step is assumed to be fixed, we face with the problem of time step selection. Time is also not a explicit parameter in Markov chains. This also prohibits explicit optimization of time as parameter and reasoning (inference) about it. For example, in optimal control boundary conditions are usually set at exact time points, which is not an ecological scenario, where time is usually a parameter of optimization. Making time an explicit parameter in dynamics may alleviate this

Walking with virtual humans : understanding human response to virtual humanoids' appearance and behaviour while navigating in immersive VR

In this thesis, we present a set of studies whose results have allowed us to analyze how to improve the realism, navigation, and behaviour of the avatars in an immersive virtual reality environment. In our simulations, participants must perform a series of tasks and we have analyzed perceptual and behavioural data. The results of the studies have allowed us to deduce what improvements are needed to be incorporated to the original simulations, in order to enhance the perception of realism, the navigation technique, the rendering of the avatars, their behaviour or their animations. The most reliable technique for simulating avatars’ behaviour in a virtual reality environment should be based on the study of how humans behave within the environment. For this purpose, it is necessary to build virtual environments where participants can navigate safely and comfortably with a proper metaphor and, if the environment is populated with avatars, simulate their behaviour accurately. All these aspects together will make the participants behave in a way that is closer to how they would behave in the real world. Besides, the integration of these concepts could provide an ideal platform to develop different types of applications with and without collaborative virtual reality such as emergency simulations, teaching, architecture, or designing. In the first contribution of this thesis, we carried out an experiment to study human decision making during an evacuation. We were interested to evaluate to what extent the behaviour of a virtual crowd can affect individuals' decisions. From the second contribution, in which we studied the perception of realism with bots and humans performing just locomotion or varied animations, we can conclude that the combination of having human-like avatars with animation variety can increase the overall realism of a crowd simulation, trajectories and animation. The preliminary study presented in the third contribution of this thesis showed that realistic rendering of the environment and the avatars do not appear to increase the perception of realism in the participants, which is consistent with works presented previously. The preliminary results in our walk-in-place contribution showed a seamless and natural transition between walk-in-place and normal walk. Our system provided a velocity mapping function that closely resembles natural walk. We observed through a pilot study that the system successfully reduces motion sickness and enhances immersion. Finally, the results of the contribution related to locomotion in collaborative virtual reality showed that animation synchronism and footstep sound of the avatars representing the participants do not seem to have a strong impact in terms of presence and feeling of avatar control. However, in our experiment, incorporating natural animations and footstep sound resulted in smaller clearance values in VR than previous work in the literature. The main objective of this thesis was to improve different factors related to virtual reality experiences to make the participants feel more comfortable in the virtual environment. These factors include the behaviour and appearance of the virtual avatars and the navigation through the simulated space in the experience. By increasing the realism of the avatars and facilitating navigation, high scores in presence are achieved during the simulations. This provides an ideal framework for developing collaborative virtual reality applications or emergency simulations that require participants to feel as if they were in real life.En aquesta tesi, es presenta un conjunt d'estudis els resultats dels quals ens han permès analitzar com millorar el realisme, la navegació i el comportament dels avatars en un entorn de realitat virtual immersiu. En les nostres simulacions, els participants han de realitzar una sèrie de tasques i hem analitzat dades perceptives i de comportament mentre les feien. Els resultats dels estudis ens han permès deduir quines millores són necessàries per a ser incorporades a les simulacions originals, amb la finalitat de millorar la percepció del realisme, la tècnica de navegació, la representació dels avatars, el seu comportament o les seves animacions. La tècnica més fiable per simular el comportament dels avatars en un entorn de realitat virtual hauria de basar-se en l'estudi de com es comporten els humans dins de l¿entorn virtual. Per a aquest propòsit, és necessari construir entorns virtuals on els participants poden navegar amb seguretat i comoditat amb una metàfora adequada i, si l¿entorn està poblat amb avatars, simular el seu comportament amb precisió. Tots aquests aspectes junts fan que els participants es comportin d'una manera més pròxima a com es comportarien en el món real. A més, la integració d'aquests conceptes podria proporcionar una plataforma ideal per desenvolupar diferents tipus d'aplicacions amb i sense realitat virtual col·laborativa com simulacions d'emergència, ensenyament, arquitectura o disseny. En la primera contribució d'aquesta tesi, vam realitzar un experiment per estudiar la presa de decisions durant una evacuació. Estàvem interessats a avaluar en quina mesura el comportament d'una multitud virtual pot afectar les decisions dels participants. A partir de la segona contribució, en la qual estudiem la percepció del realisme amb robots i humans que realitzen només una animació de caminar o bé realitzen diverses animacions, vam arribar a la conclusió que la combinació de tenir avatars semblants als humans amb animacions variades pot augmentar la percepció del realisme general de la simulació de la multitud, les seves trajectòries i animacions. L'estudi preliminar presentat en la tercera contribució d'aquesta tesi va demostrar que la representació realista de l¿entorn i dels avatars no semblen augmentar la percepció del realisme en els participants, que és coherent amb treballs presentats anteriorment. Els resultats preliminars de la nostra contribució de walk-in-place van mostrar una transició suau i natural entre les metàfores de walk-in-place i caminar normal. El nostre sistema va proporcionar una funció de mapatge de velocitat que s'assembla molt al caminar natural. Hem observat a través d'un estudi pilot que el sistema redueix amb èxit el motion sickness i millora la immersió. Finalment, els resultats de la contribució relacionada amb locomoció en realitat virtual col·laborativa van mostrar que el sincronisme de l'animació i el so dels avatars que representen els participants no semblen tenir un fort impacte en termes de presència i sensació de control de l'avatar. No obstant això, en el nostre experiment, la incorporació d'animacions naturals i el so de passos va donar lloc a valors de clearance més petits en RV que treballs anteriors ja publicats. L'objectiu principal d'aquesta tesi ha estat millorar els diferents factors relacionats amb experiències de realitat virtual immersiva per fer que els participants se sentin més còmodes en l'entorn virtual. Aquests factors inclouen el comportament i l'aparença dels avatars i la navegació a través de l'entorn virtual. En augmentar el realisme dels avatars i facilitar la navegació, s'aconsegueixen altes puntuacions en presència durant les simulacions. Això proporciona un marc ideal per desenvolupar aplicacions col·laboratives de realitat virtual o simulacions d'emergència que requereixen que els participants se sentin com si estiguessin en la vida realPostprint (published version

Quantifying Self Perception: Multisensory Temporal Asynchrony Discrimination As A Measure of Body Ownership

There are diffuse and distinct cortical networks involved in the various aspects of body representation that organize information from multiple sensory inputs and resolve conflicts when faced with incongruent situations. This coherence is typically maintained as we maneuver around the world, as our bodies change over the years, and as we gain experience. An important aspect of a congruent representation of the body in the brain is the visual perspective in which we are able to directly view our own body. There is a clear separation of the cortical networks involved in seeing our own body and that of another person. For the projects presented in my dissertation, I used an experimental design in which participants were required to make a multisensory temporal asynchrony discrimination after self-generated movements. I measured sensitivity for visual delay detection between the movement (proprioceptive, efferent and afferent information) and the visual image of that movement under differing visual, proprioceptive, and vestibular conditions. The self-advantage is a signature of body ownership and is characterized by a significantly lower threshold for delay detection for views of the body that are considered self compared to those that are regarded as other. Overall, the results from the collection of studies suggest that the tolerance for temporally matching visual, proprioceptive and efferent copy information that informs about the perceived position of body parts depends on: whether one is viewing ones own body or someone elses; the perspective in which the body is viewed; the dominant hand; and the reliability of vestibular cues which help us situate our body in space. Further, the self-advantage provides a robust measure of body ownership. The experiments provide a window on and support for the malleable nature of the representation of the body in the brain