Certifying non-existence of undesired locally stable equilibria in formation shape control problems

A fundamental control problem for autonomous vehicle formations is formation shape control, in which the agents must maintain a prescribed formation shape using only information measured or communicated from neighboring agents. While a large and growing literature has recently emerged on distance-based formation shape control, global stability properties remain a significant open problem. Even in four-agent formations, the basic question of whether or not there can exist locally stable incorrect equilibrium shapes remains open. This paper shows how this question can be answered for any size formation in principle using semidefinite programming techniques for semialgebraic problems, involving solutions sets of polynomial equations, inequations, and inequalities.Comment: 6 pages; to appear in the 2013 IEEE Multiconference on Systems and Contro

Informational masking of speech by acoustically similar intelligible and unintelligible interferers

Masking experienced when target speech is accompanied by a single interfering voice is often primarily informational masking (IM). IM is generally greater when the interferer is intelligible than when it is not (e.g., speech from an unfamiliar language), but the relative contributions of acoustic-phonetic and linguistic interference are often difficult to assess owing to acoustic differences between interferers (e.g., different talkers). Three-formant analogues (F1+F2+F3) of natural sentences were used as targets and interferers. Targets were presented monaurally either alone or accompanied contralaterally by interferers from another sentence (F0 = 4 semitones higher); a target-to-masker ratio (TMR) between ears of 0, 6, or 12 dB was used. Interferers were either intelligible or rendered unintelligible by delaying F2 and advancing F3 by 150 ms relative to F1, a manipulation designed to minimize spectro-temporal differences between corresponding interferers. Target-sentence intelligibility (keywords correct) was 67% when presented alone, but fell considerably when an unintelligible interferer was present (49%) and significantly further when the interferer was intelligible (41%). Changes in TMR produced neither a significant main effect nor an interaction with interferer type. Interference with acoustic-phonetic processing of the target can explain much of the impact on intelligibility, but linguistic factors—particularly interferer intrusions—also make an important contribution to IM

Informational masking of monaural target speech by a single contralateral formant

Recent research suggests that the ability of an extraneous formant to impair intelligibility depends on the variation of its frequency contour. This idea was explored using a method that ensures interference occurs only through informational masking. Three-formant analogues of sentences were synthesized using a monotonous periodic source (F0 = 140 Hz). Target formants were presented monaurally; the target ear was assigned randomly on each trial. A competitor for F2 (F2C) was presented contralaterally; listeners must reject F2C to optimize recognition. In experiment 1, F2Cs with various frequency and amplitude contours were used. F2Cs with time-varying frequency contours were effective competitors; constant-frequency F2Cs had far less impact. Amplitude contour also influenced competitor impact; this effect was additive. In experiment 2, F2Cs were created by inverting the F2 frequency contour about its geometric mean and varying its depth of variation over a range from constant to twice the original (0–200%). The impact on intelligibility was least for constant F2Cs and increased up to ~100% depth, but little thereafter. The effect of an extraneous formant depends primarily on its frequency contour; interference increases as the depth of variation is increased until the range exceeds that typical for F2 in natural speech

Genetic architecture of skeletal convergence and sex determination in ninespine sticklebacks

ManuscriptThe history of life offers plentiful examples of convergent evolution, the independent derivation of similar phenotypes in distinct lineages [1]. Convergent phenotypes among closely related lineages (frequently termed "parallel" evolution) are often assumed to result from changes in similar genes or developmental pathways [2], but the genetic origins of convergence remains poorly understood. Ninespine (Pungitius pungitius) and threespine (Gasterosteus aculeatus) stickleback fish provide many examples of convergent evolution of adaptive phenotypes, both within and between genera. The genetic architecture of several important traits is now known for threespine sticklebacks [3-10]; thus, ninespine sticklebacks thus provide a unique opportunity to critically test whether similar or different chromosome regions control similar phenotypes in these lineages. We have generated the first genome-wide linkage map for the ninespine stickleback and used quantitative trait locus (QTL) mapping to identify chromosome regions controlling several skeletal traits and sex determination. In ninespine sticklebacks, these traits mapped to chromosome regions not previously known to control the corresponding traits in threespine sticklebacks. Therefore, convergent morphological evolution in these related, but independent, vertebrate lineages may have different genetic origins. Comparative genetics in sticklebacks provides an exciting opportunity to study the mechanisms controlling similar phenotypic changes in different groups of animals

The verbal transformation effect and the perceptual organization of speech:influence of formant transitions and F0-contour continuity

This study explored the role of formant transitions and F0-contour continuity in binding together speech sounds into a coherent stream. Listening to a repeating recorded word produces verbal transformations to different forms; stream segregation contributes to this effect and so it can be used to measure changes in perceptual coherence. In experiment 1, monosyllables with strong formant transitions between the initial consonant and following vowel were monotonized; each monosyllable was paired with a weak-transitions counterpart. Further stimuli were derived by replacing the consonant-vowel transitions with samples from adjacent steady portions. Each stimulus was concatenated into a 3-min-long sequence. Listeners only reported more forms in the transitions-removed condition for strong-transitions words, for which formant-frequency discontinuities were substantial. In experiment 2, the F0 contour of all-voiced monosyllables was shaped to follow a rising or falling pattern, spanning one octave. Consecutive tokens either had the same contour, giving an abrupt F0 change between each token, or alternated, giving a continuous contour. Discontinuous sequences caused more transformations and forms, and shorter times to the first transformation. Overall, these findings support the notion that continuity cues provided by formant transitions and the F0 contour play an important role in maintaining the perceptual coherence of speech

Narrative Writing and Emerging Clinical Practice

Purpose: We used a narrative technique with volunteer medical students immersed in early clinical experiences in order to 1) offer students a pathway to self-reflection, and 2) offer program directors insight into issues that arise for students. Methodology: Our medical students between their first and second years spend nine summer weeks working in a clinical practice somewhere in the state. Self-selected students (9 in 2005, 22 in 2006), wrote reflectively once a week, via e-mail, to volunteer physician mentors on campus, sharing observations, feelings, and ideas. Mentors responded in kind to the content of these experiential writings. At the end of the summer, students gathered together to read from their work. Each student turned in one piece of writing to the program. Both students and mentors filled out evaluation forms that assessed the program. One program director identified themes in the students\u27 narratives. Summary of Results: Students and mentors overwhelmingly reported that the narrative time was well spent. Students commented that this writing helped them to perceive their clinical work in a thoughtful way, become more observant and analytical, look for recurrent patterns, and respond better to patients. Mentors found the correspondence rewarding and felt refreshed by it. Themes emerging from student writing addressed life events and professional socialization. Most mentors volunteered to participate again. Conclusions: Program directors found the program to be feasible and useful for students and mentors, filling an unmeet needs for first year medical students to consider, question, and reflect about their early clinical experiences

Formant-frequency variation and informational masking of speech by extraneous formants:evidence against dynamic and speech-specific acoustical constraints

How speech is separated perceptually from other speech remains poorly understood. Recent research indicates that the ability of an extraneous formant to impair intelligibility depends on the variation of its frequency contour. This study explored the effects of manipulating the depth and pattern of that variation. Three formants (F1+F2+F3) constituting synthetic analogues of natural sentences were distributed across the 2 ears, together with a competitor for F2 (F2C) that listeners must reject to optimize recognition (left = F1+F2C; right = F2+F3). The frequency contours of F1 - F3 were each scaled to 50% of their natural depth, with little effect on intelligibility. Competitors were created either by inverting the frequency contour of F2 about its geometric mean (a plausibly speech-like pattern) or using a regular and arbitrary frequency contour (triangle wave, not plausibly speech-like) matched to the average rate and depth of variation for the inverted F2C. Adding a competitor typically reduced intelligibility; this reduction depended on the depth of F2C variation, being greatest for 100%-depth, intermediate for 50%-depth, and least for 0%-depth (constant) F2Cs. This suggests that competitor impact depends on overall depth of frequency variation, not depth relative to that for the target formants. The absence of tuning (i.e., no minimum in intelligibility for the 50% case) suggests that the ability to reject an extraneous formant does not depend on similarity in the depth of formant-frequency variation. Furthermore, triangle-wave competitors were as effective as their more speech-like counterparts, suggesting that the selection of formants from the ensemble also does not depend on speech-specific constraints

Acoustic source characteristics, across-formant integration, and speech intelligibility under competitive conditions

An important aspect of speech perception is the ability to group or select formants using cues in the acoustic source characteristics-for example, fundamental frequency (F0) differences between formants promote their segregation. This study explored the role of more radical differences in source characteristics. Three-formant (F1+F2+F3) synthetic speech analogues were derived from natural sentences. In Experiment 1, F1+F3 were generated by passing a harmonic glottal source (F0 = 140 Hz) through second-order resonators (H1+H3); in Experiment 2, F1+F3 were tonal (sine-wave) analogues (T1+T3). F2 could take either form (H2 or T2). In some conditions, the target formants were presented alone, either monaurally or dichotically (left ear = F1+F3; right ear = F2). In others, they were accompanied by a competitor for F2 (F1+F2C+F3; F2), which listeners must reject to optimize recognition. Competitors (H2C or T2C) were created using the time-reversed frequency and amplitude contours of F2. Dichotic presentation of F2 and F2C ensured that the impact of the competitor arose primarily through informational masking. In the absence of F2C, the effect of a source mismatch between F1+F3 and F2 was relatively modest. When F2C was present, intelligibility was lowest when F2 was tonal and F2C was harmonic, irrespective of which type matched F1+F3. This finding suggests that source type and context, rather than similarity, govern the phonetic contribution of a formant. It is proposed that wideband harmonic analogues are more effective informational maskers than narrowband tonal analogues, and so become dominant in across-frequency integration of phonetic information when placed in competition