An Experimental Evaluation of Bayesian Optimization on Bipedal Locomotion

© 2014 IEEE.The design of gaits and corresponding control policies for bipedal walkers is a key challenge in robot locomotion. Even when a viable controller parametrization already exists, finding near-optimal parameters can be daunting. The use of automatic gait optimization methods greatly reduces the need for human expertise and time-consuming design processes. Many different approaches to automatic gait optimization have been suggested to date. However, no extensive comparison among them has yet been performed. In this paper, we present some common methods for automatic gait optimization in bipedal locomotion, and analyze their strengths and weaknesses. We experimentally evaluated these gait optimization methods on a bipedal robot, in more than 1800 experimental evaluations. In particular, we analyzed Bayesian optimization in different configurations, including various acquisition functions

High incidence of Angina pectoris in patients treated with 5-fluorouracil - A planned surveillance study with 102 patients

Objective: Angina pectoris, arrhythmic sudden death and myocardial infarction, all these cardiac events have occasionally been reported during 5-fluorouracil (5-FU) chemotherapy. Underlying mechanisms leading to these events are unknown; damage to the myocytes or vasospasms have been discussed. Methods: 102 consecutive and unselected patients were monitored with 12-lead ECG, echocardiography and radionuclide ventriculography prior to the first cycle of 5-FU chemotherapy and 3 months from baseline. Results: 19% of the patients developed reversible symptoms of angina pectoris during treatment which lasted up to 12 h after cessation of the infusion. Most of the 19 patients showed corresponding ECG changes. 6 out of the 19 patients with severe angina pectoris had subsequent coronary angiography. In none of these patients the coronary angiography showed coronary artery disease, but it showed low ventricular function (ejection fraction <50%) in 2 patients. The ejection fraction did not increase overtime. Arrhythmias were screened for with Holter monitoring during 5-FU chemotherapy. The frequency of bradycardia and ventricular extrasystoles increased significantly (p < 0.05) during treatment compared to arrhythmias in Holter monitoring 3 months later. Furthermore the Qtc time in the ECG 3 months later was significantly prolonged (p < 0.05) compared to baseline values. Conclusions:The incidence of angina pectoris in patients during 5-FU treatment seems higher than previously suspected. As myocardial ischemia can be fatal, attentiveness to these symptoms and immediate treatment are crucial. Copyright (C) 2003 S. Karger AG, Basel

Heavy Fermion superconductor CeCu2_2Si2_2 under high pressure: multiprobing the valence crossover

The first heavy fermion superconductor CeCu$_2$Si$_2$ has not revealed all its striking mysteries yet. At high pressures, superconductivity is supposed to be mediated by valence fluctuations, in contrast to ambient pressure, where spin fluctuations most likely act as pairing glue. We have carried out a multiprobe (electric transport, thermopower, ac specific heat, Hall and Nernst effects) experiment up to $7 \text{GPa}$ on a high quality CeCu$_2$Si$_2$ single crystal. Reliable resistivity data reveal for the first time a scaling behavior close to the supposed valence transition, and allow to locate the critical end point at $4.5\pm0.2 \text{GPa}$ and a slightly negative temperature. In the same pressure region, remarkable features have also been detected in the other physical properties, acting as further signatures of the Ce valence crossover and the associated critical fluctuations.Comment: 13 pages, 14 figure

Superconductivity without Fe or Ni in the phosphides BaIr2P2 and BaRh2P2

Heat capacity, resistivity, and magnetic susceptibility measurements confirm bulk superconductivity in single crystals of BaIr$_2$P$_2$ (T$_c$=2.1K) and BaRh$_2$P$_2$ (T$_c$ = 1.0 K). These compounds form in the ThCr$_2$Si$_2$ (122) structure so they are isostructural to both the Ni and Fe pnictides but not isoelectronic to either of them. This illustrates the importance of structure for the occurrence of superconductivity in the 122 pnictides. Additionally, a comparison between these and other ternary phosphide superconductors suggests that the lack of interlayer $P-P$ bonding favors superconductivity. These stoichiometric and ambient pressure superconductors offer an ideal playground to investigate the role of structure for the mechanism of superconductivity in the absence of magnetism.Comment: Published in Phys Rev B: Rapid Communication

Fermi surface instabilities in CeRh2Si2 at high magnetic field and pressure

We present thermoelectric power (TEP) studies under pressure and high magnetic field in the antiferromagnet CeRh2Si2 at low temperature. Under magnetic field, large quantum oscillations are observed in the TEP, S(H), in the antiferromagnetic phase. They suddenly disappear when entering in the polarized paramagnetic (PPM) state at Hc pointing out an important reconstruction of the Fermi surface (FS). Under pressure, S/T increases strongly of at low temperature near the critical pressure Pc, where the AF order is suppressed, implying the interplay of a FS change and low energy excitations driven by spin and valence fluctuations. The difference between the TEP signal in the PPM state above Hc and in the paramagnetic state (PM) above Pc can be explained by different FS. Band structure calculations at P = 0 stress that in the AF phase the 4f contribution at the Fermi level (EF) is weak while it is the main contribution in the PM domain. By analogy to previous work on CeRu2Si2, in the PPM phase of CeRh2Si2 the 4f contribution at EF will drop.Comment: 10 pages, 13 figure

Bayesian Optimization for Learning Gaits under Uncertainty

© 2015, Springer International Publishing Switzerland.Designing gaits and corresponding control policies is a key challenge in robot locomotion. Even with a viable controller parametrization, finding near-optimal parameters can be daunting. Typically, this kind of parameter optimization requires specific expert knowledge and extensive robot experiments. Automatic black-box gait optimization methods greatly reduce the need for human expertise and time-consuming design processes. Many different approaches for automatic gait optimization have been suggested to date. However, no extensive comparison among them has yet been performed. In this article, we thoroughly discuss multiple automatic optimization methods in the context of gait optimization. We extensively evaluate Bayesian optimization, a model-based approach to black-box optimization under uncertainty, on both simulated problems and real robots. This evaluation demonstrates that Bayesian optimization is particularly suited for robotic applications, where it is crucial to find a good set of gait parameters in a small number of experiments

WSPC- Proceedings Trim Size: 9in x 6in main 1 Characterizing Swing-Leg Retraction in Human Locomotion

contact, is observed in human locomotion. While several advantages of swingleg retraction, like gait stability and perturbation rejection, are shown by conceptual models, there is currently very little experimental data on swing-leg retraction in human motion. In this paper, kinematic data for twenty-eight subjects walking and running at different speeds are analyzed. Swing-leg retraction was shown to exist in walking and running at every non-zero speed. Additionally, swing-leg retraction speed and acceleration linearly increase with gait speed. At comparable gait speeds, swing-leg retraction speed is higher for running than for walking

Wilson ratio in Yb-substituted CeCoIn5

We have investigated the effect of Yb substitution on the Pauli limited, heavy fermion superconductor, CeCoIn$_5$. Yb acts as a non-magnetic divalent substituent for Ce throughout the entire doping range, equivalent to hole doping on the rare earth site. We found that the upper critical field in (Ce,Yb)CoIn$_5$ is Pauli limited, yet the reduced (H,T) phase diagram is insensitive to disorder, as expected in the purely orbitally limited case. We use the Pauli limiting field, the superconducting condensation energy and the electronic specific heat coefficient to determine the Wilson ratio ($R_{W}$), the ratio of the specific heat coefficient to the Pauli susceptibility in CeCoIn$_5$. The method is applicable to any Pauli limited superconductor in the clean limit.Comment: 5 pages, 1 table, 4 figure

Direct observation of the quantum critical point in heavy fermion CeRhSi3_3

We report on muon spin rotation studies of the noncentrosymmetric heavy fermion antiferromagnet CeRhSi$_3$. A drastic and monotonic suppression of the internal fields, at the lowest measured temperature, was observed upon an increase of external pressure. Our data suggest that the ordered moments are gradually quenched with increasing pressure, in a manner different from the pressure dependence of the N\'eel temperature. At \unit{23.6}{kbar}, the ordered magnetic moments are fully suppressed via a second-order phase transition, and $T_{\rm{N}}$ is zero. Thus, we directly observed the quantum critical point at \unit{23.6}{kbar} hidden inside the superconducting phase of CeRhSi$_3$