Control of a supernumerary robotic hand by foot: an experimental study in virtual reality.

In the operational theater, the surgical team could highly benefit from a robotic supplementary hand under the surgeon's full control. The surgeon may so become more autonomous; this may reduce communication errors with the assistants and take over difficult tasks such as holding tools without tremor. In this paper, we therefore examine the possibility to control a third robotic hand with one foot's movements. Three experiments in virtual reality were designed to assess the feasibility of this control strategy, the learning curve of the subjects in different tasks and the coordination of foot movements with the two natural hands. Results show that the limbs are moved simultaneously, in parallel rather than serially. Participants' performance improved within a few minutes of practice without any specific difficulty to complete the tasks. Subjective assessment by the subjects indicated that controlling a third hand by foot has been easy and required only negligible physical and mental efforts. The sense of ownership was reported to improve through the experiments. The mental burden was not directly related to the level of motion required by a task, but depended on the type of activity and practice. The most difficult task was moving two hands and foot in opposite directions. These results suggest that a combination of practice and appropriate tasks can enhance the learning process for controlling a robotic hand by foot

Automatic configuration of NSGA-II with jMetal and irace

jMetal is a Java-based framework for multi-objective optimization with metaheuristics providing, among other features, a wide set of algorithms that are representative of the state-of-the-art. Although it has become a widely used tool in the area, it lacks support for automatic tuning of algorithm parameter settings, which can prevent obtaining accurate Pareto front approximations, especially for inexperienced users. In this paper, we present a first approach to combine jMetal and irace, a package for automatic algorithm configuration; the NSGA-II is chosen as the target algorithm to be tuned. The goal is to facilitate the combined use of both tools to jMetal users to avoid wasting time in adjusting manually the parameters of the algorithms. Our proposal involves the definition of a new algorithm template for evolutionary algorithms, which allows the flexible composition of multi-objective evolutionary algorithms from a set of configurable components, as well as the generation of configuration files for adjusting the algorithm parameters with irace. To validate our approach, NSGA-II is tuned with a benchmark problems and compared with the same algorithm using standard settings, resulting in a new variant that shows a competitive behavior.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

In a demanding task, three-handed manipulation is preferred to two-handed manipulation.

Equipped with a third hand under their direct control, surgeons may be able to perform certain surgical interventions alone; this would reduce the need for a human assistant and related coordination difficulties. However, does human performance improve with three hands compared to two hands? To evaluate this possibility, we carried out a behavioural study on the performance of naive adults catching objects with three virtual hands controlled by their two hands and right foot. The subjects could successfully control the virtual hands in a few trials. With this control strategy, the workspace of the hands was inversely correlated with the task velocity. The comparison of performance between the three and two hands control revealed no significant difference of success in catching falling objects and in average effort during the tasks. Subjects preferred the three handed control strategy, found it easier, with less physical and mental burden. Although the coordination of the foot with the natural hands increased trial after trial, about two minutes of practice was not sufficient to develop a sense of ownership towards the third arm

About Designing an Observer Pattern-Based Architecture for a Multi-objective Metaheuristic Optimization Framework

Multi-objective optimization with metaheuristics is an active and popular research field which is supported by the availability of software frameworks providing algorithms, benchmark problems, quality indicators and other related components. Most of these tools follow a monolithic architecture that frequently leads to a lack of flexibility when a user intends to add new features to the included algorithms. In this paper, we explore a different approach by designing a component-based architecture for a multi-objective optimization framework based on the observer pattern. In this architecture, most of the algorithmic components are observable entities that naturally allows to register a number of observers. This way, a metaheuristic is composed of a set of observable and observer elements, which can be easily extended without requiring to modify the algorithm. We have developed a prototype of this architecture and implemented the NSGA-II evolutionary algorithm on top of it as a case study. Our analysis confirms the improvement of flexibility using this architecture, pointing out the requirements it imposes and how performance is affected when adopting it.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Piecewise Linear Representation Segmentation as a Multiobjective Optimization Problem

Proceedings of: Forth International Workshop on User-Centric Technologies and applications (CONTEXTS 2010). Valencia, September 7-10, 2010Actual time series exhibit huge amounts of data which require an unaffordable computational load to be processed, leading to approximate representations to aid these processes. Segmentation processes deal with this issue dividing time series into a certain number of segments and approximating those segments with a basic function. Among the most extended segmentation approaches, piecewise linear representation is highlighted due to its simplicity. This work presents an approach based on the formalization of the segmentation process as a multiobjetive optimization problem and the resolution of that problem with an evolutionary algorithm.This work was supported in part by Projects CICYT TIN2008-06742-C02-02/TSI, CICYT TEC2008-06732-C02-02/TEC, CAM CONTEXTS (S2009/TIC-1485) and DPS2008-07029-C02-02.Publicad

Gauge equivalence in QCD: the Weyl and Coulomb gauges

The Weyl-gauge ($A_0^a=0)$ QCD Hamiltonian is unitarily transformed to a representation in which it is expressed entirely in terms of gauge-invariant quark and gluon fields. In a subspace of gauge-invariant states we have constructed that implement the non-Abelian Gauss's law, this unitarily transformed Weyl-gauge Hamiltonian can be further transformed and, under appropriate circumstances, can be identified with the QCD Hamiltonian in the Coulomb gauge. We demonstrate an isomorphism that materially facilitates the application of this Hamiltonian to a variety of physical processes, including the evaluation of $S$-matrix elements. This isomorphism relates the gauge-invariant representation of the Hamiltonian and the required set of gauge-invariant states to a Hamiltonian of the same functional form but dependent on ordinary unconstrained Weyl-gauge fields operating within a space of ``standard'' perturbative states. The fact that the gauge-invariant chromoelectric field is not hermitian has important implications for the functional form of the Hamiltonian finally obtained. When this nonhermiticity is taken into account, the ``extra'' vertices in Christ and Lee's Coulomb-gauge Hamiltonian are natural outgrowths of the formalism. When this nonhermiticity is neglected, the Hamiltonian used in the earlier work of Gribov and others results.Comment: 25 page

Pseudo-unitary symmetry and the Gaussian pseudo-unitary ensemble of random matrices

Employing the currently discussed notion of pseudo-Hermiticity, we define a pseudo-unitary group. Further, we develop a random matrix theory which is invariant under such a group and call this ensemble of pseudo-Hermitian random matrices as the pseudo-unitary ensemble. We obtain exact results for the nearest-neighbour level spacing distribution for (2 X 2) PT-symmetric Hamiltonian matrices which has a novel form, s log (1/s) near zero spacing. This shows a level repulsion in marked distinction with an algebraic form in the Wigner surmise. We believe that this paves way for a description of varied phenomena in two-dimensional statistical mechanics, quantum chromodynamics, and so on.Comment: 9 pages, 2 figures, LaTeX, submitted to the Physical Review Letters on August 20, 200

Using Comparative Preference Statements in Hypervolume-Based Interactive Multiobjective Optimization

International audienceThe objective functions in multiobjective optimization problems are often non-linear, noisy, or not available in a closed form and evolutionary multiobjective optimization (EMO) algorithms have been shown to be well applicable in this case. Here, our objective is to facilitate interactive decision making by saving function evaluations outside the "interesting" regions of the search space within a hypervolume-based EMO algorithm. We focus on a basic model where the Decision Maker (DM) is always asked to pick the most desirable solution among a set. In addition to the scenario where this solution is chosen directly, we present the alternative to specify preferences via a set of so-called comparative preference statements. Examples on standard test problems show the working principles, the competitiveness, and the drawbacks of the proposed algorithm in comparison with the recent iTDEA algorithm

Scripts people live in the marketplace: an application of script analysis to Confessions of a Shopaholic

This paper shows how Script Analysis can produce new marketing theory by applying it to contemporary shopping behaviour via British novelist Madeleine Wickham’s novel, Confessions of a Shopaholic. We show how Becky Bloomwood, the central character, is a Scripted Shopaholic for whom shopping is the activity around which everything else in her live falls in and out of place. In presenting a Scripted Shopaholic Racket System, we theorise: how shopping is used to structure time and relationships with others; the role of injunctions and attributions and related discounting in fulfilling shopping scripts; and, the possibility of freedom from excessive shopping scripts. We therefore bring together psychoanalysis, literary texts, and shopping theories to generate new insights about why people shop (and often shop too much), and how such behaviours might be transforme

Solvability and PT-symmetry in a double-well model with point interactions

We show that and how point interactions offer one of the most suitable guides towards a quantitative analysis of properties of certain specific non-Hermitian (usually called PT-symmetric) quantum-mechanical systems. A double-well model is chosen, an easy solvability of which clarifies the mechanisms of the unavoided level crossing and of the spontaneous PT-symmetry breaking. The latter phenomenon takes place at a certain natural boundary of the domain of the "acceptable" parameters of the model. Within this domain the model mediates a nice and compact explicit illustration of the not entirely standard probabilistic interpretation of the physical bound states in the very recently developed (so called PT symmetric or, in an alternative terminology, pseudo-Hermitian) new, fairly exciting and very quickly developing branch of Quantum Mechanics.Comment: 24 p., written for the special journal issue "Singular Interactions in Quantum Mechanics: Solvable Models". Will be also presented to the int. conference "Pseudo-Hermitian Hamiltonians in Quantum Physics III" (Instanbul, Koc University, June 20 - 22, 2005) http://home.ku.edu.tr/~amostafazadeh/workshop/workshop.ht