Evolving Robots on Easy Mode: Towards a Variable Complexity Controller for Quadrupeds

The complexity of a legged robot's environment or task can inform how specialised its gait must be to ensure success. Evolving specialised robotic gaits demands many evaluations - acceptable for computer simulations, but not for physical robots. For some tasks, a more general gait, with lower optimization costs, could be satisfactory. In this paper, we introduce a new type of gait controller where complexity can be set by a single parameter, using a dynamic genotype-phenotype mapping. Low controller complexity leads to conservative gaits, while higher complexity allows more sophistication and high performance for demanding tasks, at the cost of optimization effort. We investigate the new controller on a virtual robot in simulations and do preliminary testing on a real-world robot. We show that having variable complexity allows us to adapt to different optimization budgets. With a high evaluation budget in simulation, a complex controller performs best. Moreover, real-world evolution with a limited evaluation budget indicates that a lower gait complexity is preferable for a relatively simple environment.Comment: Accepted to EvoApplications1

Employing external facilitation to implement cognitive behavioral therapy in VA clinics: a pilot study

<p>Abstract</p> <p>Background</p> <p>Although for more than a decade healthcare systems have attempted to provide evidence-based mental health treatments, the availability and use of psychotherapies remains low. A significant need exists to identify simple but effective implementation strategies to adopt complex practices within complex systems of care. Emerging evidence suggests that facilitation may be an effective integrative implementation strategy for adoption of complex practices. The current pilot examined the use of external facilitation for adoption of cognitive behavioral therapy (CBT) in 20 Department of Veteran Affairs (VA) clinics.</p> <p>Methods</p> <p>The 20 clinics were paired on facility characteristics, and 23 clinicians from these were trained in CBT. A clinic in each pair was randomly selected to receive external facilitation. Quantitative methods were used to examine the extent of CBT implementation in 10 clinics that received external facilitation compared with 10 clinics that did not, and to better understand the relationship between individual providers' characteristics and attitudes and their CBT use. Costs of external facilitation were assessed by tracking the time spent by the facilitator and therapists in activities related to implementing CBT. Qualitative methods were used to explore contextual and other factors thought to influence implementation.</p> <p>Results</p> <p>Examination of change scores showed that facilitated therapists averaged an increase of 19% [95% CI: (2, 36)] in self-reported CBT use from baseline, while control therapists averaged a 4% [95% CI: (-14, 21)] increase. Therapists in the facilitated condition who were not providing CBT at baseline showed the greatest increase (35%) compared to a control therapist who was not providing CBT at baseline (10%) or to therapists in either condition who were providing CBT at baseline (average 3%). Increased CBT use was unrelated to prior CBT training. Barriers to CBT implementation were therapists' lack of control over their clinic schedule and poor communication with clinical leaders.</p> <p>Conclusions</p> <p>These findings suggest that facilitation may help clinicians make complex practice changes such as implementing an evidence-based psychotherapy. Furthermore, the substantial increase in CBT usage among the facilitation group was achieved at a modest cost.</p

Driving of Outer Belt Electron Loss by Solar Wind Dynamic Pressure Structures : Analysis of Balloon and Satellite Data

We present observations of similar to 10-60 min solar wind dynamic pressure structures that drive large-scale coherent similar to 20-100 keV electron loss from the outer radiation belt. A combination of simultaneous satellite and Balloon Array for Radiation-belt Relativistic Electron Losses (BARREL) observations on 11-12 January 2014 shows a close association between the pressure structures and precipitation as inferred from BARREL X-rays. Specifically, the structures drive radial ExB transport of electrons up to 1 Earth radii, modulating the free electron energy available for low-frequency plasmaspheric hiss growth, and subsequent hiss-induced loss cone scattering. The dynamic pressure structures, originating near the Sun and commonly observed advecting with the solar wind, are thus able to switch on scattering loss of electrons by hiss over a large spatial scale. Our results provide a direct link between solar wind pressure fluctuations and modulation of electron loss from the outer radiation belt and may explain long-period modulations and large-scale coherence of X-rays commonly observed in the BARREL data set. Plain Language Summary The Earth's low-density magnetosphere is a region of enclosed magnetic field lines that contains energetic electrons ranging from eV to MeV energies. These populations can be greatly enhanced in response to solar driving. Following enhancements, energetic electron populations are depleted on timescales of hours to days by various processes. One important depletion process occurs when an electromagnetic plasma wave called plasmaspheric hiss, which exists within a high plasma density region called the plasmasphere and its (occasional) radial extension called the plume, scatters energetic electrons into the atmosphere. In this paper, we show that these hiss waves can be switched on by compressions of the magnetosphere which occur in response to similar to 1 hr long pressure structures in the solar wind. These structures originate at or near the Sun and are very common in the solar wind at 1 AU. The newly excited hiss waves scatter electrons into the atmosphere where they are observed on balloon-borne X-ray detectors. Our results suggest that magnetospheric models that predict the loss of electrons from hiss waves may be improved by consideration of solar wind pressure-driven dynamics.Peer reviewe

Combustor oscillation pressure stabilizer

In accordance with the objective of the present invention, the active control of unsteady combustion induced oscillations in a combustion chamber fired by a suitable fuel and oxidizer mixture, such as a hydrocarbon fuel and air mixture, is provided by restructuring and moving the position of the main flame front and thereby increasing the transport time and displacing the pressure wave further away from the in-phase relationship with the periodic heat release. The restructuring and repositioning of the main flame are achieved by utilizing a pilot flame which is pulsed at a predetermined frequency corresponding to less than about one-half the frequency of the combustion oscillation frequency with the duration of each pulse being sufficient to produce adequate secondary thermal energy to restructure the main flame and thereby decouple the heat release from the acoustic coupling so as to lead to a reduction in the dynamic pressure amplitude. The pulsating pilot flame produces a relatively small and intermittently existing flame front in the combustion zone that is separate from the oscillating main flame front but which provides the thermal energy necessary to effectively reposition the location of the oscillating main flame front out of the region in the combustion zone where the acoustic coupling can occur with the main flame and thereby effectively altering the oscillation-causing phase relationship with the heat of combustion

The smfBox is an open-source platform for single-molecule FRET

Single-molecule Förster Resonance Energy Transfer (smFRET) is a powerful technique capable of resolving both relative and absolute distances within and between structurally dynamic biomolecules. High instrument costs, and a lack of open-source hardware and acquisition software have limited smFRET’s broad application by non-specialists. Here, we present the smfBox, a cost-effective confocal smFRET platform, providing detailed build instructions, open-source acquisition software, and full validation, thereby democratising smFRET for the wider scientific community

Search for the Higgs boson in events with missing transverse energy and b quark jets produced in proton-antiproton collisions at s**(1/2)=1.96 TeV

We search for the standard model Higgs boson produced in association with an electroweak vector boson in events with no identified charged leptons, large imbalance in transverse momentum, and two jets where at least one contains a secondary vertex consistent with the decay of b hadrons. We use ~1 fb-1 integrated luminosity of proton-antiproton collisions at s**(1/2)=1.96 TeV recorded by the CDF II experiment at the Tevatron. We find 268 (16) single (double) b-tagged candidate events, where 248 +/- 43 (14.4 +/- 2.7) are expected from standard model background processes. We place 95% confidence level upper limits on the Higgs boson production cross section for several Higgs boson masses ranging from 110 GeV/c2 to 140 GeV/c2. For a mass of 115 GeV/c2 the observed (expected) limit is 20.4 (14.2) times the standard model prediction.Comment: 8 pages, 2 figures, submitted to Phys. Rev. Let

Measurement of the Helicity Fractions of W Bosons from Top Quark Decays Using Fully Reconstructed top-antitop Events with CDF II

We present a measurement of the fractions F_0 and F_+ of longitudinally polarized and right-handed W bosons in top quark decays using data collected with the CDF II detector. The data set used in the analysis corresponds to an integrated luminosity of approximately 318 pb -1. We select ttbar candidate events with one lepton, at least four jets, and missing transverse energy. Our helicity measurement uses the decay angle theta*, which is defined as the angle between the momentum of the charged lepton in the W boson rest frame and the W momentum in the top quark rest frame. The cos(theta*) distribution in the data is determined by full kinematic reconstruction of the ttbar candidates. We find F_0 = 0.85 +0.15 -0.22 (stat) +- 0.06 (syst) and F_+ = 0.05 +0.11 -0.05 (stat) +- 0.03 (syst), which is consistent with the standard model prediction. We set an upper limit on the fraction of right-handed W bosons of F_+ < 0.26 at the 95% confidence level.Comment: 11 pages, 2 figures, submitted to Phys. Rev.

First Measurement of the W Boson Mass in Run II of the Tevatron

We present a measurement of the W boson mass using 200/pb of data collected in pbar p collisions at sqrt(s) = 1.96 TeV by the CDF II detector at Run II of the Fermilab Tevatron. With a sample of 63964 W -> e nu candidates and 51128 W -> mu nu candidates, we measure M_W = (80413 +- 34 (stat) +- 34 (syst) = 80413 +- 48) MeV/c^2. This is the most precise single measurement of the W boson mass to date.Comment: published version in PR