A Theory of Cheap Control in Embodied Systems

We present a framework for designing cheap control architectures for embodied agents. Our derivation is guided by the classical problem of universal approximation, whereby we explore the possibility of exploiting the agent's embodiment for a new and more efficient universal approximation of behaviors generated by sensorimotor control. This embodied universal approximation is compared with the classical non-embodied universal approximation. To exemplify our approach, we present a detailed quantitative case study for policy models defined in terms of conditional restricted Boltzmann machines. In contrast to non-embodied universal approximation, which requires an exponential number of parameters, in the embodied setting we are able to generate all possible behaviors with a drastically smaller model, thus obtaining cheap universal approximation. We test and corroborate the theory experimentally with a six-legged walking machine. The experiments show that the sufficient controller complexity predicted by our theory is tight, which means that the theory has direct practical implications. Keywords: cheap design, embodiment, sensorimotor loop, universal approximation, conditional restricted Boltzmann machineComment: 27 pages, 10 figure

Procjena varijabli stanja sustava s gorivnim člankom i uzlaznim pretvaračem metodom brzog uzorkovanja signala

Estimation of state variables of a peak current mode (PCM) controlled DC-DC boost converter supplied by a PEM fuel cell is described in this paper. Since this system is highly nonlinear and non-minimum phase, its state variables are estimated by using fast output sampling method. Estimated state variables are the converter output voltage and its first derivative, and they are suitable for model reference adaptive control or sliding mode based control techniques. The estimator has been designed in a way that it gives a good estimate of the state variables in the continuous and in the discontinuous conduction mode of the converter, and in the presence of measurement and process noise caused by converter switching-mode operation. Experimental results of estimating the state variables on a 450 W boost converter supplied by the emulator of the PEM fuel cell BCS 64-32 show good results of the estimation, regardless of the conduction mode of the converter, i.e. the operating point determined by its output current.U ovom radu obrađena je procjena varijabli stanja sustava s istomjernim uzlaznim pretvaračem u vršnom strujnom načinu upravljanja napajanim PEM gorivnim člankom. Budući da je taj sustav izrazito nelinearan te neminimalno-fazan, za procjenu njegovih varijabli stanja upotrebljena je metoda brzog uzorkovanja izlaznog signala. Procjenjene varijable stanja su izlazni napon uzlaznog pretvarača te njegova prva derivacija, te su pogodne za adaptivno upravljanje s referentnim modelom i upravljanje temeljeno na kliznim režimima. Procjenitelj je projektiran na način da daje dobru procjenu varijabli stanja u kontinuiranom i diskontinuiranom režimu rada pretvarača, te u uvjetima mjernog i procesnog šuma uzrokovanog sklopnim načinom rada pretvarača. Eksperimentalni rezultati procjene varijabli stanja na uzlaznom pretvaraču snage 450 W napajanim emulatorom gorivnog članka BCS 64-32 pokazuju dobre rezultate procjene, neovisno o režimu rada pretvarača, odnosno radnoj točki određenoj njegovom izlaznom strujom

Scalable Verification of Linear Controller Software

We consider the problem of verifying software implementations of linear time-invariant controllers against mathematical specifications. Given a controller specification, multiple correct implementations may exist, each of which uses a different representation of controller state (e.g., due to optimizations in a third-party code generator). To accommodate this variation, we first extract a controller\u27s mathematical model from the implementation via symbolic execution, and then check input-output equivalence between the extracted model and the specification by similarity checking. We show how to automatically verify the correctness of C code controller implementation using the combination of techniques such as symbolic execution, satisfiability solving and convex optimization. Through evaluation using randomly generated controller specifications of realistic size, we demonstrate that the scalability of this approach has significantly improved compared to our own earlier work based on the invariant checking method

Application of a Key Events Dose-Response Analysis to Nutrients: A Case Study with Vitamin A (Retinol)

The methodology used to establish tolerable upper intake levels (UL) for nutrients borrows heavily from risk assessment methods used by toxicologists. Empirical data are used to identify intake levels associated with adverse effects, and Uncertainty Factors (UF) are applied to establish ULs, which in turn inform public health decisions and standards. Use of UFs reflects lack of knowledge regarding the biological events that underlie response to the intake of a given nutrient, and also regarding the sources of variability in that response. In this paper, the Key Events Dose-Response Framework (KEDRF) is used to systematically consider the major biological steps that lead from the intake of the preformed vitamin A to excess systemic levels, and subsequently to increased risk of adverse effects. Each step is examined with regard to factors that influence whether there is progression toward the adverse effect of concern. The role of homeostatic mechanisms is discussed, along with the types of research needed to improve understanding of dose-response for vitamin A. This initial analysis illustrates the potential of the KEDRF as a useful analytical tool for integrating current knowledge regarding dose-response, generating questions that will focus future research efforts, and clarifying how improved knowledge and data could be used to reduce reliance on UFs

Is Privacy Controllable?

One of the major views of privacy associates privacy with the control over information. This gives rise to the question how controllable privacy actually is. In this paper, we adapt certain formal methods of control theory and investigate the implications of a control theoretic analysis of privacy. We look at how control and feedback mechanisms have been studied in the privacy literature. Relying on the control theoretic framework, we develop a simplistic conceptual control model of privacy, formulate privacy controllability issues and suggest directions for possible research.Comment: The final publication will be available at Springer via http://dx.doi.org/ [in press

Extreme heat-related mortality avoided under Paris Agreement goals

In key European cities, stabilizing climate warming at 1.5 °C would decrease extreme heat-related mortality by 15–22% per summer compared with stabilization at 2 °C

Effects of mineral amendments on trace elements leaching from pre-treated marine sediment after simulated rainfall events

Bauxite extraction by-products (red mud) were used to evaluate their potential ability to stabilize trace elements from dredged and aerated/humidified marine sediment. The investigated by-products were: bauxaline®(BX) that is a press-filtered red mud; bauxsol™(BS) that is a press-filtered red mud previously washed with excess of seawater, and gypsum neutralized bauxaline® (GBX). These materials were separately mixed to dredged composted sediment sample considering 5% and 20% sediment: stabilizer ratios. For pilot experiments, rainfall events were regularly simulated for 3 months. Concentrations of As, Mo, Cd, Cr, Zn, Cu, and Ni were analyzed in collected leachates as well as toxicity. Results showed that Cd, Mo, Zn, and Cu were efficiently stabilized in the solid matrix when 20% of BX, BS, and GBX was applied. Consequently, toxicity of leachates was lower than for the untreated sediment, meaning that contaminants mobility was reduced. A 5% GBX was also efficient for Mo, Zn and Cu stabilization. In all scenarios, As stabilization was not improved. Compared to all other monitored elements, Mo mobility seemed to depend upon temperature-humidity conditions during pilot experiments suggesting the need of further investigations

Training dual-task walking in community-dwelling adults within 1 year of stroke: A protocol for a single-blind randomized controlled trial

Background: Community ambulation is a highly complex skill requiring the ability to adapt to increased environmental complexity and perform multiple tasks simultaneously. After stroke, individuals demonstrate a diminished ability to perform dual-tasks. Current evidence suggests that conventional rehabilitation does not adequately address gait-related dual-task impairments after stroke, which may be contributing to low levels of participation and physical inactivity in community-dwelling stroke survivors. The objective of this study is to investigate the efficacy of dual-task gait training in community-dwelling adults within 1 year of stroke. Specifically, we will compare the effects of dual-task gait training and single-task gait training on cognitive-motor interference during walking at preferred speed and at fastest comfortable speed (Aim 1), locomotor control during obstacle negotiation (Aim 2), and spontaneous physical activity (Aim 3). Methods/design: This single-blind randomized controlled trial will involve 44 individuals within 12 months of stroke. Following baseline evaluation, participants will be randomly allocated to single- or dual-task gait training. Both groups will receive 12, 30-minute sessions provided one-on-one over 4–6 weeks in an outpatient therapy setting. Single-task gait training involves practice of gait activities incorporating motor relearning principles. Dual-task gait training involves an identical gait training protocol; the critical difference being that the dual-task gait training group will practice the gait activities while simultaneously performing a cognitive task for 75% of the repetitions. Blinded assessors will measure outcomes at baseline, post-intervention, and 6 months after completion of the intervention. The primary outcome measure will be dual-task effects on gait speed and cognition during unobstructed walking. Secondary outcomes include spatiotemporal and kinetic gait parameters during unobstructed single- and dual-task walking at preferred and fastest comfortable walking speeds, gait parameters during high and low obstacle crossing, spontaneous physical activity, executive function, lower extremity motor function, Timed Up and Go, balance self-efficacy, number of falls, and stroke-related disability. Hypotheses for each aim will be tested using an intention-to-treat analysis with repeated measures ANOVA design. Discussion: This trial will provide evidence to help clinicians make decisions about the types of activities to include in rehabilitation to improve dual-task walking after stroke

Global, regional, and national burden of mortality associated with short-term temperature variability from 2000-19: a three-stage modelling study

BACKGROUND: Increased mortality risk is associated with short-term temperature variability. However, to our knowledge, there has been no comprehensive assessment of the temperature variability-related mortality burden worldwide. In this study, using data from the MCC Collaborative Research Network, we first explored the association between temperature variability and mortality across 43 countries or regions. Then, to provide a more comprehensive picture of the global burden of mortality associated with temperature variability, global gridded temperature data with a resolution of 0.5 degrees x 0.5 degrees were used to assess the temperature variability-related mortality burden at the global, regional, and national levels. Furthermore, temporal trends in temperature variability-related mortality burden were also explored from 2000-19. METHODS: In this modelling study, we applied a three-stage meta-analytical approach to assess the global temperature variability-related mortality burden at a spatial resolution of 0.5 degrees x 0.5 degrees from 2000-19. Temperature variability was calculated as the SD of the average of the same and previous days' minimum and maximum temperatures. We first obtained location-specific temperature variability related-mortality associations based on a daily time series of 750 locations from the Multi-country Multi-city Collaborative Research Network. We subsequently constructed a multivariable meta-regression model with five predictors to estimate grid-specific temperature variability related-mortality associations across the globe. Finally, percentage excess in mortality and excess mortality rate were calculated to quantify the temperature variability-related mortality burden and to further explore its temporal trend over two decades. FINDINGS: An increasing trend in temperature variability was identified at the global level from 2000 to 2019. Globally, 1 753 392 deaths (95% CI 1 159 901-2 357 718) were associated with temperature variability per year, accounting for 3.4% (2.2-4.6) of all deaths. Most of Asia, Australia, and New Zealand were observed to have a higher percentage excess in mortality than the global mean. Globally, the percentage excess in mortality increased by about 4.6% (3.7-5.3) per decade. The largest increase occurred in Australia and New Zealand (7.3%, 95% CI 4.3-10.4), followed by Europe (4.4%, 2.2-5.6) and Africa (3.3, 1.9-4.6). INTERPRETATION: Globally, a substantial mortality burden was associated with temperature variability, showing geographical heterogeneity and a slightly increasing temporal trend. Our findings could assist in raising public awareness and improving the understanding of the health impacts of temperature variability. FUNDING: Australian Research Council, Australian National Health & Medical Research Council