Unsupervised Contact Learning for Humanoid Estimation and Control

This work presents a method for contact state estimation using fuzzy clustering to learn contact probability for full, six-dimensional humanoid contacts. The data required for training is solely from proprioceptive sensors - endeffector contact wrench sensors and inertial measurement units (IMUs) - and the method is completely unsupervised. The resulting cluster means are used to efficiently compute the probability of contact in each of the six endeffector degrees of freedom (DoFs) independently. This clustering-based contact probability estimator is validated in a kinematics-based base state estimator in a simulation environment with realistic added sensor noise for locomotion over rough, low-friction terrain on which the robot is subject to foot slip and rotation. The proposed base state estimator which utilizes these six DoF contact probability estimates is shown to perform considerably better than that which determines kinematic contact constraints purely based on measured normal force.Comment: Submitted to the IEEE International Conference on Robotics and Automation (ICRA) 201

The Impact of Dual Roles in Mentoring Relationships: A Mixed Research Study

In the field of counselor education, mentors often are involved in varying roles with mentees, such as being mentor, dissertation chair, and or chair to the mentee. Due to the various roles, both the mentor and mentee need to recognize how each of these roles impacts the development of the mentee and the overall mentoring relationship. The purpose of our study was to examine the relationship between perceived dual roles of the mentor and the impact on the mentoring relationship. We found that counseling students and faculty who had experienced dual roles in their mentoring relationships had high career-related functions than did their counterparts who had not experienced dual mentoring relationships

Determining Mentoring Needs in Counselor Education Programs

This article describes the development and initial score validation of the Mentoring Needs in Counselor Education Scale (MNCES), designed to evaluate the mentoring needs of counselor education students and pre-tenured faculty. Exploratory factor analysis (n = 278) yielded a 32-item, five-component solution with strong score reliability as indicated by Cronbach’s alpha values above .70: Career and Professional Development (.82), Research and Scholarship (.86), Growth and Support (.83), Multicultural and Environmental Issues (.84), and Practitioner Role (72). The MNCES provides a tool for facilitating conversations regarding mentorship expectations between mentees and mentors in the field of counseling

Determining Mentoring Needs in Counselor Education Programs

This article describes the development and initial score validation of the Mentoring Needs in Counselor Education Scale (MNCES), designed to evaluate the mentoring needs of counselor education students and pre-tenured faculty. Exploratory factor analysis (n = 278) yielded a 32-item, five-component solution with strong score reliability as indicated by Cronbach’s alpha values above .70: Career and Professional Development (.82), Research and Scholarship (.86), Growth and Support (.83), Multicultural and Environmental Issues (.84), and Practitioner Role (72). The MNCES provides a tool for facilitating conversations regarding mentorship expectations between mentees and mentors in the field of counseling

Using the Bullet Cluster as a Gravitational Telescope to Study z~7 Lyman Break Galaxies

We use imaging obtained with the Hubble Space Telescope Wide Field Camera 3 to search for z_850 dropouts at z~7 and J_110 dropouts at z~9 lensed by the Bullet Cluster. In total we find 10 z_850 dropouts in our 8.27 arcmin^2 field. Using magnification maps from a combined weak and strong lensing mass reconstruction of the Bullet Cluster and correcting for estimated completeness levels, we calculate the surface density and luminosity function of our z_850 dropouts as a function of intrinsic (accounting for magnification) magnitude. We find results consistent with published blank field surveys, despite using much shallower data, and demonstrate the effectiveness of cluster surveys in the search for z~7 galaxies.Comment: 12 pages, 2 tables, 9 figures. Accepted for publication in ApJ. V3: two new figures, improved calculation of intrinsic counts, better organization, added references; main results did not change significantl

An Exemplar for Teaching and Learning Qualitative Research

In this article, we outline a course wherein the instructors teach students how to conduct rigorous qualitative research. We discuss the four major distinct, but overlapping, phases of the course: conceptual/theoretical, technical, applied, and emergent scholar. Students write several qualitative reports, called qualitative notebooks, which involve data that they collect (via three different types of interviews), analyze (using nine qualitative analysis techniques via qualitative software), and interpret. Each notebook is edited by the instructors to help them improve the quality of subsequent notebook reports. Finally, we advocate asking students who have previously taken this course to team-teach future courses. We hope that our exemplar for teaching and learning qualitative research will be useful for teachers and students alike

Large-scale, high-density (up to 512 channels) recording of local circuits in behaving animals

Monitoring representative fractions of neurons from multiple brain circuits in behaving animals is necessary for understanding neuronal computation. Here we describe a system that allows high channel count recordings from a small volume of neuronal tissue using a lightweight signal multiplexing head-stage that permits free behavior of small rodents. The system integrates multi-shank, high-density recording silicon probes, ultra-flexible interconnects and a miniaturized microdrive. These improvements allowed for simultaneous recordings of local field potentials and unit activity from hundreds of sites without confining free movements of the animal. The advantages of large-scale recordings are illustrated by determining the electro-anatomical boundaries of layers and regions in the hippocampus and neocortex and constructing a circuit diagram of functional connections among neurons in real anatomical space. These methods will allow the investigation of circuit operations and behavior-dependent inter-regional interactions for testing hypotheses of neural networks and brain function

Focusing Cosmic Telescopes: Exploring Redshift z~5-6 Galaxies with the Bullet Cluster 1E0657-56

The gravitational potential of clusters of galaxies acts as a cosmic telescope allowing us to find and study galaxies at fainter limits than otherwise possible and thus probe closer to the epoch of formation of the first galaxies. We use the Bullet Cluster 1E0657-56 (z = 0.296) as a case study, because its high mass and merging configuration makes it one of the most efficient cosmic telescopes we know. We develop a new algorithm to reconstruct the gravitational potential of the Bullet Cluster, based on a non-uniform adaptive grid, combining strong and weak gravitational lensing data derived from deep HST/ACS F606W-F775W-F850LP and ground-based imaging. We exploit this improved mass map to study z~5-6 Lyman Break Galaxies (LBGs), which we detect as dropouts. One of the LBGs is multiply imaged, providing a geometric confirmation of its high redshift, and is used to further improve our mass model. We quantify the uncertainties in the magnification map reconstruction in the intrinsic source luminosity, and in the volume surveyed, and show that they are negligible compared to sample variance when determining the luminosity function of high-redshift galaxies. With shallower and comparable magnitude limits to HUDF and GOODS, the Bullet cluster observations, after correcting for magnification, probe deeper into the luminosity function of the high redshift galaxies than GOODS and only slightly shallower than HUDF. We conclude that accurately focused cosmic telescopes are the most efficient way to sample the bright end of the luminosity function of high redshift galaxies and - in case they are multiply imaged - confirm their redshifts.Comment: 12 pages, Accepted for publication in Ap

The Average Physical Properties and Star Formation Histories of the UV-Brightest Star-Forming Galaxies at z~3.7

[Abridged] We investigate the average physical properties and star formation histories of the most UV-luminous star-forming galaxies at z~3.7. Our results are derived from analyses of the average spectral energy distributions (SEDs), constructed from stacked optical to infrared photometry, of a sample of the 1,902 most UV-luminous star-forming galaxies found in 5.3 square degrees of the NOAO Deep Wide-Field Survey. We bin the sample according to UV luminosity, and find that the shape of the average SED in the rest-frame optical and infrared is fairly constant with UV luminosity: i.e., more UV luminous galaxies are, on average, also more luminous at longer wavelengths. In the rest-UV, however, the spectral slope (measured at 0.13-0.28 um) rises steeply with the median UV luminosity from -1.8 at L L* to -1.2 in the brightest bin (L~4-5L*). We use population synthesis analyses to derive the average physical properties of these galaxies and find that: (1) L_UV, and thus star formation rates (SFRs), scale closely with stellar mass such that more UV-luminous galaxies are also more massive; (2) The median ages indicate that the stellar populations are relatively young (200-400 Myr) and show little correlation with UV luminosity; and (3) More UV-luminous galaxies are dustier than their less-luminous counterparts, such that L~4-5L* galaxies are extincted up to A(1600)=2 mag while L L* galaxies have A(1600)=0.7-1.5 mag. Based on these observations, we argue that the average star formation histories of UV-luminous galaxies are better described by models in which SFR increases with time in order to simultaneously reproduce the tight correlation between the observed SFR and stellar mass, and the universally young ages of these galaxies. We demonstrate the potential of measurements of the SFR-M* relation at multiple redshifts to discriminate between simple models of star formation histories.Comment: 14 pages, 7 figures. Accepted for publication in Astrophysical Journa

A novel decatenation assay for DNA topoisomerases using a singly-linked catenated substrate

Decatenation is a crucial in vivo reaction of DNA topoisomerases in DNA replication and is frequently used in in vitro drug screening. Usually this reaction is monitored using kinetoplast DNA as a substrate, although this assay has several limitations. Here we have engineered a substrate for Tn3 resolvase that generates a singly-linked catenane that can readily be purified from the DNA substrate after restriction enzyme digestion and centrifugation. We show that this catenated substrate can be used with high sensitivity in topoisomerase assays and drug-inhibition assays