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Inferring Robot Task Plans from Human Team Meetings: A Generative Modeling Approach with Logic-Based Prior

We aim to reduce the burden of programming and deploying autonomous systems to work in concert with people in time-critical domains, such as military field operations and disaster response. Deployment plans for these operations are frequently negotiated on-the-fly by teams of human planners. A human operator then translates the agreed upon plan into machine instructions for the robots. We present an algorithm that reduces this translation burden by inferring the final plan from a processed form of the human team's planning conversation. Our approach combines probabilistic generative modeling with logical plan validation used to compute a highly structured prior over possible plans. This hybrid approach enables us to overcome the challenge of performing inference over the large solution space with only a small amount of noisy data from the team planning session. We validate the algorithm through human subject experimentation and show we are able to infer a human team's final plan with 83% accuracy on average. We also describe a robot demonstration in which two people plan and execute a first-response collaborative task with a PR2 robot. To the best of our knowledge, this is the first work that integrates a logical planning technique within a generative model to perform plan inference.Comment: Appears in Proceedings of the Twenty-Seventh AAAI Conference on Artificial Intelligence (AAAI-13

Factors Influencing Service Use Among Families of Children with Cerebral Palsy

The University Archives has determined that this item is of continuing value to OSU's history.Chacha, Christopher M., Ph.D., Ph.D., The University of Alabama, 2000, Tuscaloosa, Alabama - "Factors Influencing Service Use Among Families of Children with Cerebral Palsy"The Ohio State University College of Social Wor

Inferring team task plans from human meetings: A generative modeling approach with logic-based prior

We aim to reduce the burden of programming and deploying autonomous systems to work in concert with people in time-critical domains such as military field operations and disaster response. Deployment plans for these operations are frequently negotiated on-the-fly by teams of human planners. A human operator then translates the agreed-upon plan into machine instructions for the robots. We present an algorithm that reduces this translation burden by inferring the final plan from a processed form of the human team's planning conversation. Our hybrid approach combines probabilistic generative modeling with logical plan validation used to compute a highly structured prior over possible plans, enabling us to overcome the challenge of performing inference over a large solution space with only a small amount of noisy data from the team planning session. We validate the algorithm through human subject experimentations and show that it is able to infer a human team's final plan with 86% accuracy on average. We also describe a robot demonstration in which two people plan and execute a first-response collaborative task with a PR2 robot. To the best of our knowledge, this is the first work to integrate a logical planning technique within a generative model to perform plan inference.United States. Dept. of Defense. Assistant Secretary of Defense for Research & Engineering (United States. Air Force Contract FA8721-05-C-0002

CoLight: Learning Network-level Cooperation for Traffic Signal Control

Cooperation among the traffic signals enables vehicles to move through intersections more quickly. Conventional transportation approaches implement cooperation by pre-calculating the offsets between two intersections. Such pre-calculated offsets are not suitable for dynamic traffic environments. To enable cooperation of traffic signals, in this paper, we propose a model, CoLight, which uses graph attentional networks to facilitate communication. Specifically, for a target intersection in a network, CoLight can not only incorporate the temporal and spatial influences of neighboring intersections to the target intersection, but also build up index-free modeling of neighboring intersections. To the best of our knowledge, we are the first to use graph attentional networks in the setting of reinforcement learning for traffic signal control and to conduct experiments on the large-scale road network with hundreds of traffic signals. In experiments, we demonstrate that by learning the communication, the proposed model can achieve superior performance against the state-of-the-art methods.Comment: 10 pages. Proceedings of the 28th ACM International on Conference on Information and Knowledge Management. ACM, 201

Inversion free Iterative Method for Finding Symmetric Solution of the Nonlinear Matrix Equation − ∗ = ( ≥ )

In this paper, we propose the inversion free iterative method to find symmetric solution of thenonlinear matrix equation − ∗ = ( ≥ ), where is an unknown symmetricsolution, is a given Hermitian matrix and is a positive integer. The convergence of theproposed method is derived. Numerical examples demonstrate that the proposed iterative methodis quite efficient and converges well when the initial guess is sufficiently close to the approximatesolution. Keywords: Symmetric solution, nonlinear matrix equation, inversion free, iterative metho

\ud Detection and Monitoring of Insecticide Resistance in Malaria Vectors in Tanzania Mainland\ud

\ud Vector control is a major component of the global strategy for malaria control which aims to prevent parasite transmission mainly through interventions targeting adult Anopheline vectors. Insecticide treated nets (ITNs) and indoor residual spraying (IRS) are the cornerstone of malaria vector control programmes. These major interventions in most cases use pyrethroid insecticides which are also used for agricultural purposes. With widespread development of resistance to pyrethroid insecticides in malaria vectors raises concern over the sustainability of insecticide-based interventions for malaria control. Therefore, close monitoring of performance of the insecticides against malaria vectors is essential for early detection and\ud management of resistance. To measure pyrethroid susceptibility in populations of malaria vectors in Tanzania and to test the efficacy of LLINs/ITNs and insecticide residues on sprayed wall substrates in the IRS operation areas. In 2011 the National Institute for Medical Research (NIMR) in collaboration with National Malaria Control Programme (NMCP) conducted large scale surveillance to determine the countrywide susceptibility levels of malaria vectors to insecticides used for both public health and agricultural purposes. Anopheles gambiae Giles s.l. were collected during national surveys and samples of LLINs/ITNs in the 14 sentinel sites and houses from the IRS areas were randomly selected for bioassays to test the efficacy and insecticide residual effects on sprayed wall substrates respectively. Wild adult mosquitoes for susceptibility testing were collected by resting catches indoors. Net traps (outdoors and indoors) were set up to enhance catches. WHO Susceptibility kits were used to test for resistance status using test papers: Lambdacyhalothrin 0.05%, Deltamethrin 0.05%, Permethrin 0.75%, DDT 4%, Propoxur 0.1% and Fenitrothion 1%. The quality of the test paper was checked against a laboratory susceptible An. gambiae Kisumu strain. Knockdown effect and mortality were measured in standard WHO susceptibility tests and cone bio-efficacy tests. Whereas, con bioassays on treated walls and ITNs were conducted using the laboratory susceptible An. gambiae Kisumu strain. The results from the surveillance recorded continued susceptibility of malaria vectors to commonly used insecticides. However, there were some isolated cases of resistance and/or reduced susceptibility to pyrethroid insecticides which may not compromise the current vector control interventions in the country. Anopheles gambiae s.l. showed resistance (15-28%) to each of the pyrethroids and to DDT but not to Organophosphates (Propoxur 0.1%), and Carbamates (Fenitrothion 1%). The information obtained from this surveillance is expected to be used to guide the National Malaria Control Programme on the rational selection of insecticides for malaria vector control and for the national mitigation plans for management and containment of malaria vector resistance in the country. The current observation warrants more vigilant monitoring of the susceptibility of malaria mosquitoes to commonly used insecticides in areas found with resistance and/or reduced levels of susceptibility of malaria vectors to insecticides, particularly in areas with heavy agricultural and/or public health use of insecticides where resistance is likely to develop. The current survey covered malaria vectors only and not the non malaria vectors (nuisance) mosquitoes such as Culex. Similar monitoring of insecticide susceptibility of this non malaria vectors may be needed to ensure public motivation for sustained use of ITNs/LLINs in the country. The surveillance leading to these results received funding from PMI/USAID through RTI International with Sub Agreement Number 33300212555.\u

Asthma Prevalence, Knowledge, and Perceptions among Secondary School Pupils in Rural and Urban Costal Districts in Tanzania.

Asthma is a common chronic disease of childhood that is associated with significant morbidity and mortality. We aimed to estimate the prevalence of asthma among secondary school pupils in urban and rural areas of coast districts of Tanzania. The study also aimed to describe pupils' perception towards asthma, and to assess their knowledge on symptoms, triggers, and treatment of asthma. A total of 610 pupils from Ilala district and 619 pupils from Bagamoyo district formed the urban and rural groups, respectively. Using a modified International Study of Asthma and Allergies in Childhood (ISAAC) questionnaire, a history of "diagnosed" asthma or the presence of a wheeze in the previous 12 months was obtained from all the studied pupils, along with documentation of their perceptions regarding asthma. Pupils without asthma or wheeze in the prior 12 months were subsequently selected and underwent a free running exercise testing. A >= 20% decrease in the post-exercise Peak Expiratory Flow Rate (PEFR) values was the criterion for diagnosing exercise-induced asthma. The mean age of participants was 16.8 (+/-1.8) years. The prevalence of wheeze in the past 12 months was 12.1% in Bagamoyo district and 23.1% in Ilala district (p < 0.001). Self-reported asthma was found in 17.6% and 6.4% of pupils in Ilala and Bagamoyo districts, respectively (p < 0.001). The prevalence of exercise-induced asthma was 2.4% in Bagamoyo, and 26.3% in Ilala (P < 0.002). In both districts, most information on asthma came from parents, and there was variation in symptoms and triggers of asthma reported by the pupils. Non-asthmatic pupils feared sleeping, playing, and eating with their asthmatic peers. The prevalence rates of self-reported asthma, wheezing in the past 12 months, and exercise-induced asthma were significantly higher among urban than rural pupils. Although bronchial asthma is a common disease, pupils' perceptions about asthma were associated with fear of contact with their asthmatic peers in both rural and urban schools

Terpenoids from the roots of Ceriops tagal induces apoptosis through activation of caspase-3 enzyme

Dolabr-4(17),15(16)-dien-3-one, isopimar-8(14)-en-15,16-diol, isopimar-8(14)-en-16-hydroxy-15-one, lupeol, lup-20(29)-en-3&acirc;,28-diol and lup-20(29)-en-3&acirc;-hydroxy-28-oic acid were isolated from the roots of amarine mangrove Ceriops tagal (Rhizophoraceae). The compounds were evaluated for activation of caspase-3 enzyme using Caspase-3 Colourimetric Assay. Caspase-3 enzyme was activated by all compounds in cleavingpNA from Ac-DEVD-pNA in the presence of caspase-3-inhibitor; Ac-DEVD-CHO. Lup-20(29)-en-3&acirc;- hydroxyl-28-oic acid, isopimar-8(14)-en-15,16-diol and isopimar-8(14)-en-16-hydroxy-15-one cleaved 41.7, 39.42 and 34.19 &igrave;mol/L of pNA respectively. This study is therefore demonstrating that the isolatedcompounds may serve as leads for development of new chemotherapeutic drugs which acts by inducing apoptosis in the cancerous cells