Behavioural inhibition and valuation of gain/loss are neurally distinct from approach/withdrawal

Gain or omission/termination of loss produces approach; while loss or omission/termination of gain produces withdrawal. Control of approach/withdrawal motivation is distinct from valuation of gain/loss and does not entail learning – making “reward” and “punishment” ambiguous. Approach-withdrawal goal conflict engages a neurally distinct Behavioural Inhibition System, which controls “anxiety” (conflict/passive avoidance) but not “fear” (withdrawal/active avoidance)

Differential involvement of hippocampal angiotensin 1 receptors in learning and memory processes in bulbectomized rats

There is conflicting evidence regarding the effect of AT1 receptor antagonists on learning and memory processes. The effects of angiotensin II and losartan administration into CA1 hippocampal area on the avoidance performance in olfactory bulbectomized (OBX) rats using active avoidance (shuttle box) test and passive avoidance (step through) test were investigated. Rats were microinjected unilaterally through implanted guide cannulas into the CA1 area of the dorsal hippocampus and the drugs were administered separately, 5 minutes before each training session. The microinjections of losartan into the left, but not the right CA1 hippocampal area improved the acquisition and retention of active and passive avoidance learning, thus suggesting dependence on the side of injection. The unilateral (left or right) administration of angiotensin II did not significantly affect the performance of OBX rats in the avoidance tasks. A differential distribution of the AT1 receptors in the left and right hemisphere could contribute for the asymmetry in the behavioral effects of the AT receptor antagonist

Diffusion, subdiffusion, and trapping of active particles in heterogeneous media

We study the transport properties of a system of active particles moving at constant speed in an heterogeneous two-dimensional space. The spatial heterogeneity is modeled by a random distribution of obstacles, which the active particles avoid. Obstacle avoidance is characterized by the particle turning speed $\gamma$. We show, through simulations and analytical calculations, that the mean square displacement of particles exhibits two regimes as function of the density of obstacles $\rho_o$ and $\gamma$. We find that at low values of $\gamma$, particle motion is diffusive and characterized by a diffusion coefficient that displays a minimum at an intermediate obstacle density $\rho_o$. We observe that in high obstacle density regions and for large $\gamma$ values, spontaneous trapping of active particles occurs. We show that such trapping leads to genuine subdiffusive motion of the active particles. We indicate how these findings can be used to fabricate a filter of active particles.Comment: to appear in Phys. Rev. Let

Fear regulation: from passive extinction to active avoidance

It is adaptive to start fearing stimuli that signal imminent danger and to stop fearing these signals when they are no longer followed by danger. The topic of extinction research is to investigate the mechanisms of fear reduction when passively observing such change in contingency. However, we can also actively intervene and change contingencies by executing actions that prevent the signaled danger. Such avoidance behavior is an active form of fear regulation that is adaptive when it serves to protect against imminent danger, but becomes maladaptive when it is not appropriate to the actual level of threat. I will review different theories of the learning and maintenance of avoidance behaviors and present evidence that suggests that similar fear regulation mechanisms are at play in avoidance as in extinction. I will further show how this similarity can provide new hypotheses regarding the mechanism that pushes adaptive avoidance into maladaptive avoidance. Finally, I will discuss strategies to extinguish avoidance behaviors.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

The Cosmic Censor Forbids Naked Topology

For any asymptotically flat spacetime with a suitable causal structure obeying (a weak form of) Penrose's cosmic censorship conjecture and satisfying conditions guaranteeing focusing of complete null geodesics, we prove that active topological censorship holds. We do not assume global hyperbolicity, and therefore make no use of Cauchy surfaces and their topology. Instead, we replace this with two underlying assumptions concerning the causal structure: that no compact set can signal to arbitrarily small neighbourhoods of spatial infinity (``$i^0$-avoidance''), and that no future incomplete null geodesic is visible from future null infinity. We show that these and the focusing condition together imply that the domain of outer communications is simply connected. Furthermore, we prove lemmas which have as a consequence that if a future incomplete null geodesic were visible from infinity, then given our $i^0$-avoidance assumption, it would also be visible from points of spacetime that can communicate with infinity, and so would signify a true naked singularity.Comment: To appear in CQG, this improved version contains minor revisions to incorporate referee's suggestions. Two revised references. Plain TeX, 12 page

Unscreened water-diversion pipes pose an entrainment risk to the threatened green sturgeon, Acipenser medirostris.

Over 3,300 unscreened agricultural water diversion pipes line the levees and riverbanks of the Sacramento River (California) watershed, where the threatened Southern Distinct Population Segment of green sturgeon, Acipenser medirostris, spawn. The number of sturgeon drawn into (entrained) and killed by these pipes is greatly unknown. We examined avoidance behaviors and entrainment susceptibility of juvenile green sturgeon (35±0.6 cm mean fork length) to entrainment in a large (>500-kl) outdoor flume with a 0.46-m-diameter water-diversion pipe. Fish entrainment was generally high (range: 26-61%), likely due to a lack of avoidance behavior prior to entering inescapable inflow conditions. We estimated that up to 52% of green sturgeon could be entrained after passing within 1.5 m of an active water-diversion pipe three times. These data suggest that green sturgeon are vulnerable to unscreened water-diversion pipes, and that additional research is needed to determine the potential impacts of entrainment mortality on declining sturgeon populations. Data under various hydraulic conditions also suggest that entrainment-related mortality could be decreased by extracting water at lower diversion rates over longer periods of time, balancing agricultural needs with green sturgeon conservation

Two-Stage Transfer Learning for Heterogeneous Robot Detection and 3D Joint Position Estimation in a 2D Camera Image using CNN

Collaborative robots are becoming more common on factory floors as well as regular environments, however, their safety still is not a fully solved issue. Collision detection does not always perform as expected and collision avoidance is still an active research area. Collision avoidance works well for fixed robot-camera setups, however, if they are shifted around, Eye-to-Hand calibration becomes invalid making it difficult to accurately run many of the existing collision avoidance algorithms. We approach the problem by presenting a stand-alone system capable of detecting the robot and estimating its position, including individual joints, by using a simple 2D colour image as an input, where no Eye-to-Hand calibration is needed. As an extension of previous work, a two-stage transfer learning approach is used to re-train a multi-objective convolutional neural network (CNN) to allow it to be used with heterogeneous robot arms. Our method is capable of detecting the robot in real-time and new robot types can be added by having significantly smaller training datasets compared to the requirements of a fully trained network. We present data collection approach, the structure of the multi-objective CNN, the two-stage transfer learning training and test results by using real robots from Universal Robots, Kuka, and Franka Emika. Eventually, we analyse possible application areas of our method together with the possible improvements.Comment: 6+n pages, ICRA 2019 submissio

Dynamic Modeling and Simulation of a Rotating Single Link Flexible Robotic Manipulator Subject to Quick Stops

Single link robotic manipulators are extensively used in industry and research operations. The main design requirement of such manipulators is to minimize link dynamic deflection and its active end vibrations, and obtain high position accuracy during its high speed motion. To achieve these requirements, accurate mathematical modeling and simulation of the initial design, to increase system stability and precision and to obtain very small amplitudes of vibration, should be considered. In this paper the modeling of such robotic arm with a rigid guide and a flexible extensible link subject to quick stops after each complete revolution is considered and its dynamical behavior analyzed. The extensible link which rotates with constant angular velocity has one end constrained to a predefined trajectory. The constrained trajectory allows trajectory control and obstacle avoidance for the active end of the robotic arm. The dynamic evolution of the system is investigated and the flexural response of the flexible link analyzed under the combined effect of clearance and flexibility.