Therapeutic and educational objectives in robot assisted play for children with autism

“This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder." “Copyright IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.” DOI: 10.1109/ROMAN.2009.5326251This article is a methodological paper that describes the therapeutic and educational objectives that were identified during the design process of a robot aimed at robot assisted play. The work described in this paper is part of the IROMEC project (Interactive Robotic Social Mediators as Companions) that recognizes the important role of play in child development and targets children who are prevented from or inhibited in playing. The project investigates the role of an interactive, autonomous robotic toy in therapy and education for children with special needs. This paper specifically addresses the therapeutic and educational objectives related to children with autism. In recent years, robots have already been used to teach basic social interaction skills to children with autism. The added value of the IROMEC robot is that play scenarios have been developed taking children's specific strengths and needs into consideration and covering a wide range of objectives in children's development areas (sensory, communicational and interaction, motor, cognitive and social and emotional). The paper describes children's developmental areas and illustrates how different experiences and interactions with the IROMEC robot are designed to target objectives in these areas

How to squeeze the toothpaste back into the tube

We consider "bridges" for the simple exclusion process on Z, either symmetric or asymmetric, in which particles jump to the right at rate p and to the left at rate 1-p. The initial state O has all negative sites occupied and all non-negative sites empty. We study the probability that the process is again in state O at time t, and the behaviour of the process on [0,t] conditioned on being in state O at time t. In the case p=1/2, we find that such a bridge typically goes a distance of order t (in the sense of graph distance) from the initial state. For the asymmetric systems, we note an interesting duality which shows that bridges with parameters p and 1-p have the same distribution; the maximal distance of the process from the original state behaves like c(p)log(t) for some constant c(p) depending on p. (For p>1/2, the front particle therefore travels much less far than the bridge of the corresponding random walk, even though in the unconditioned process the path of the front particle dominates a random walk.) We mention various further questions.Comment: 15 page

Stationary distributions of multi-type totally asymmetric exclusion processes

We consider totally asymmetric simple exclusion processes with n types of particle and holes ($n$-TASEPs) on $\mathbb {Z}$ and on the cycle $\mathbb {Z}_N$. Angel recently gave an elegant construction of the stationary measures for the 2-TASEP, based on a pair of independent product measures. We show that Angel's construction can be interpreted in terms of the operation of a discrete-time $M/M/1$ queueing server; the two product measures correspond to the arrival and service processes of the queue. We extend this construction to represent the stationary measures of an n-TASEP in terms of a system of queues in tandem. The proof of stationarity involves a system of n 1-TASEPs, whose evolutions are coupled but whose distributions at any fixed time are independent. Using the queueing representation, we give quantitative results for stationary probabilities of states of the n-TASEP on $\mathbb {Z}_N$, and simple proofs of various independence and regeneration properties for systems on $\mathbb {Z}$.Comment: Published at http://dx.doi.org/10.1214/009117906000000944 in the Annals of Probability (http://www.imstat.org/aop/) by the Institute of Mathematical Statistics (http://www.imstat.org

Optimal Dynamic Procurement Policies for a Storable Commodity with L\'evy Prices and Convex Holding Costs

In this paper we study a continuous time stochastic inventory model for a commodity traded in the spot market and whose supply purchase is affected by price and demand uncertainty. A firm aims at meeting a random demand of the commodity at a random time by maximizing total expected profits. We model the firm's optimal procurement problem as a singular stochastic control problem in which controls are nondecreasing processes and represent the cumulative investment made by the firm in the spot market (a so-called stochastic "monotone follower problem"). We assume a general exponential L\'evy process for the commodity's spot price, rather than the commonly used geometric Brownian motion, and general convex holding costs. We obtain necessary and sufficient first order conditions for optimality and we provide the optimal procurement policy in terms of a "base inventory" process; that is, a minimal time-dependent desirable inventory level that the firm's manager must reach at any time. In particular, in the case of linear holding costs and exponentially distributed demand, we are also able to obtain the explicit analytic form of the optimal policy and a probabilistic representation of the optimal revenue. The paper is completed by some computer drawings of the optimal inventory when spot prices are given by a geometric Brownian motion and by an exponential jump-diffusion process. In the first case we also make a numerical comparison between the value function and the revenue associated to the classical static "newsvendor" strategy.Comment: 28 pages, 3 figures; improved presentation, added new results and section

Generalized Kuhn-Tucker Conditions for N-Firm Stochastic Irreversible Investment under Limited Resources

In this paper we study a continuous time, optimal stochastic investment problem under limited resources in a market with N firms. The investment processes are subject to a time-dependent stochastic constraint. Rather than using a dynamic programming approach, we exploit the concavity of the profit functional to derive some necessary and sufficient first order conditions for the corresponding Social Planner optimal policy. Our conditions are a stochastic infinite-dimensional generalization of the Kuhn-Tucker Theorem. The Lagrange multiplier takes the form of a nonnegative optional random measure on [0,T] which is flat off the set of times for which the constraint is binding, i.e. when all the fuel is spent. As a subproduct we obtain an enlightening interpretation of the first order conditions for a single firm in Bank (2005). In the infinite-horizon case, with operating profit functions of Cobb-Douglas type, our method allows the explicit calculation of the optimal policy in terms of the `base capacity' process, i.e. the unique solution of the Bank and El Karoui representation problem (2004).Comment: 25 page

Multiclass Hammersley-Aldous-Diaconis process and multiclass-customer queues

In the Hammersley-Aldous-Diaconis process infinitely many particles sit in R and at most one particle is allowed at each position. A particle at x$ whose nearest neighbor to the right is at y, jumps at rate y-x to a position uniformly distributed in the interval (x,y). The basic coupling between trajectories with different initial configuration induces a process with different classes of particles. We show that the invariant measures for the two-class process can be obtained as follows. First, a stationary M/M/1 queue is constructed as a function of two homogeneous Poisson processes, the arrivals with rate \lambda and the (attempted) services with rate \rho>\lambda. Then put the first class particles at the instants of departures (effective services) and second class particles at the instants of unused services. The procedure is generalized for the n-class case by using n-1 queues in tandem with n-1 priority-types of customers. A multi-line process is introduced; it consists of a coupling (different from Liggett's basic coupling), having as invariant measure the product of Poisson processes. The definition of the multi-line process involves the dual points of the space-time Poisson process used in the graphical construction of the system. The coupled process is a transformation of the multi-line process and its invariant measure the transformation described above of the product measure.Comment: 21 pages, 6 figure

The effect of ram pressure on the star formation, mass distribution and morphology of galaxies

We investigate the dependence of star formation and the distribution of the components of galaxies on the strength of ram pressure. Several mock observations in X-ray, H$\alpha$ and HI wavelength for different ram-pressure scenarios are presented. By applying a combined N-body/hydrodynamic description (GADGET-2) with radiative cooling and a recipe for star formation and stellar feedback 12 different ram-pressure stripping scenarios for disc galaxies were calculated. Special emphasis was put on the gas within the disc and in the surroundings. All gas particles within the computational domain having the same mass resolution. The relative velocity was varied from 100 km/s to 1000 km/s in different surrounding gas densities in the range from $1\times10^{-28}$ to $5\times10^{-27}$ g/cm$^3$. The temperature of the surrounding gas was initially $1\times10^{7}$ K. The star formation of a galaxy is enhanced by more than a magnitude in the simulation with a high ram-pressure ($5\times10^{-11}$ dyn/cm$^2$) in comparison to the same system evolving in isolation. The enhancement of the star formation depends more on the surrounding gas density than on the relative velocity. Up to 95% of all newly formed stars can be found in the wake of the galaxy out to distances of more than 350 kpc behind the stellar disc. Continuously stars fall back to the old stellar disc, building up a bulge-like structure. Young stars can be found throughout the stripped wake with surface densities locally comparable to values in the inner stellar disc. Ram-pressure stripping can shift the location of star formation from the disc into the wake on very short timescales. (Abridged)Comment: 19 pages, 25 figures, A&A accepted, high resolution version can be found at http://astro.uibk.ac.at/~wolfgang/kapferer_rps_galaxies.pd