A dynamic neural field approach to natural and efficient human-robot collaboration

A major challenge in modern robotics is the design of autonomous robots that are able to cooperate with people in their daily tasks in a human-like way. We address the challenge of natural human-robot interactions by using the theoretical framework of dynamic neural fields (DNFs) to develop processing architectures that are based on neuro-cognitive mechanisms supporting human joint action. By explaining the emergence of self-stabilized activity in neuronal populations, dynamic field theory provides a systematic way to endow a robot with crucial cognitive functions such as working memory, prediction and decision making . The DNF architecture for joint action is organized as a large scale network of reciprocally connected neuronal populations that encode in their firing patterns specific motor behaviors, action goals, contextual cues and shared task knowledge. Ultimately, it implements a context-dependent mapping from observed actions of the human onto adequate complementary behaviors that takes into account the inferred goal of the co-actor. We present results of flexible and fluent human-robot cooperation in a task in which the team has to assemble a toy object from its components.The present research was conducted in the context of the fp6-IST2 EU-IP Project JAST (proj. nr. 003747) and partly financed by the FCT grants POCI/V.5/A0119/2005 and CONC-REEQ/17/2001. We would like to thank Luis Louro, Emanuel Sousa, Flora Ferreira, Eliana Costa e Silva, Rui Silva and Toni Machado for their assistance during the robotic experiment

Ion conducting and paramagnetic d-PCL(530)/siloxane-based biohybrids doped with Mn 2+ ions

Amorphous α,ω-hidroxylpoly(ε-caprolactone) (PCL(530))/siloxane ormolytes doped with manganese perchlorate (Mn(ClO4)2) (d-PCL(530)/siloxanenMn(ClO4)2) with n = 20, 50, and 100), thermally stable up to at least 200 ºC, were synthesized by the sol-gel method. Ionic conductivity values up to 4.8×10−8 and 2.0×10−6 S cm−1 at about 25 and 100 ºC, respectively, where obtained for n = 20. FT-IR data demonstrated that the hydrogen bonding interactions present in the non-doped d-PCL(530)/siloxane host hybrid matrix were significantly influenced by the inclusion of Mn(ClO4)2 which promoted the formation of more oxyethylene/urethane and urethane/urethane aggregates. In addition, the Mn2+ ions bonded to all the “free” C=O groups of the urethane cross-links and to some of the “free” ester groups of the amorphous PCL(530) chains. In the electrolytes, the ClO4 − ions were found “free” and bonded to the Mn2+ ions along a bidentate configuration. The magnitude of the electron paramagnetic resonance (EPR) hyperfine constant of the analyzed samples (A ≈ 90×10-4 cm−1 ) suggested that the bonding between Mn2+ ions and the surrounding ligands is moderately ionic. The synthetized d-PCL(530)/siloxanenMn(ClO4)2 biohybrids have potential application in paramagnetic, photoelectrochemical and electrochromic devices.This work was supported by Fundacao para a Ciencia e a Tecnologia (FCT) and Feder (contracts PTDC/CTM-BPC/112774/2009, PEst-OE/QUI/UI0616/2014 and PEst-C/QUI/UI0686/2013) and COST Action MP1202 "Rational design of hybrid organic-inorganic interfaces". R.F.P.P. acknowledges FCT for a grant (SFRH/BPD/87759/2012). M.M.S. acknowledges CNPq (PVE grant 406617/2013-9), for a mobility grant. The financial support of the Brazilian agencies Capes and CNPq are gratefully acknowledged. Research was partially financed by the CeRTEV, Center for Research, Technology and Education in Vitreous Materials, FAPESP 2013/07793-6.info:eu-repo/semantics/publishedVersio

The HERMES Spectrometer

The HERMES experiment is collecting data on inclusive and semi-inclusive deep inelastic scattering of polarised positrons from polarised targets of Il, D, and He-3. These data give information on the spin structure of the nucleon. This paper describes the forward angle spectrometer built for this purpose. The spectrometer includes numerous tracking chambers (micro-strip gas chambers, drift and proportional chambers) in front of and behind a 1.3 T.m magnetic field, as well as an extensive set of detectors for particle identification (a lead-glass calorimeter, a pre-shower detector, a transition radiation detector, and a threshold Cherenkov detector). Two of the main features of the spectrometer are its good acceptance and identification of both positrons and hadrons, in particular pions. These characteristics, together with the purity of the targets, are allowing HERMES to make unique contributions to the understanding of how the spins of the quarks contribute to the spin of the nucleon. (C) 1998 Elsevier Science B.V. All rights reserved

Bioprotection: working with nature to manage coastal hazards

No abstract available

Warum heizen Sie nicht natuerlich

SIGLECopy held by FIZ Karlsruhe; available from UB/TIB Hannover / FIZ - Fachinformationszzentrum Karlsruhe / TIB - Technische InformationsbibliothekDEGerman

Tolerance of aluminium toxicity in annual Medicago species and lucerne

A rapid (7 day) solution-based screening test was developed using 15 annual Medicago cultivars and one M. sativa. Based on a relative root regrowth after exposures to aluminium (Al), Zodiac (M. murex), Orion (M. sphaerocarpos) and the M. polymorha cultivars Santiago, Cavalier and Serena had the greatest Al tolerance. Herald (M. littoralis) and Rivoli (M. tornata) were most sensitive. Ranking for Al tolerance from the solution culture correlated well (r = 0.80) with ranking for tolerance of the 16 genotypes grown in an acidic soil (unlimed pHCa 4.1). We screened 17 Australian populations of lucerne (M. sativa) using a 24 h ‘pulse’ of 75 µmol/L Al, and a three day ‘recovery’ of 10 µmol/L Al. We identified and recovered plants with a root regrowth of ≥5 mm in all 17 populations with selection intensities of 2 to 4%. Four of these selected populations (Aurora, UQL-1, A513 and TO2-011) were polycrossed within each population to produce four populations of seed from the cycle 1 selections. The length of root regrowth under Al stress was improved for all four populations of cycle 1 selection (P ≤ 0.001; from 2.6 mm for the original populations to 6.3 mm for the cycle 1 selections). In a subsequent experiment the cycle 2 selections from Aurora, UQL-1 and TO2-011 had significantly greater root regrowth than both the cycle 1 selections (P ≤ 0.001; 8.3 cf. 6.6 mm) and the unselected populations (3.0 mm). The selections from TO2-011 appeared to have greater improvement in the average length of root regrowth after 2 cycles of selection. Selected germplasm was more tolerant than GAAT in our evaluation. Based on estimation of realised heritability, it seemed likely that higher selection intensities would give more rapid improvements in tolerance. Our studies have not investigated the physiological basis of any tolerance of Al which we observed