Approximation of empowerment in the continuous domain

The empowerment formalism offers a goal-independent utility function fully derived from an agent's embodiment. It produces intrinsic motivations which can be used to generate self-organizing behaviours in agents. One obstacle to the application of empowerment in more demanding (esp. continuous) domains is that previous ways of calculating empowerment have been very time consuming and only provided a proof-of-concept. In this paper we present a new approach to efficiently approximate empowerment as a parallel, linear, Gaussian channel capacity problem. We use pendulum balancing to demonstrate this new method, and compare it to earlier approximation methods.Peer reviewe

Empowerment and State-dependent Noise : An Intrinsic Motivation for Avoiding Unpredictable Agents

Empowerment is a recently introduced intrinsic motivation algorithm based on the embodiment of an agent and the dynamics of the world the agent is situated in. Computed as the channel capacity from an agent’s actuators to an agent’s sensors, it offers a quantitative measure of how much an agent is in control of the world it can perceive. In this paper, we expand the approximation of empowerment as a Gaussian linear channel to compute empowerment based on the covariance matrix between actuators and sensors, incorporating state dependent noise. This allows for the first time the study of continuous systems with several agents. We found that if the behaviour of another agent cannot be predicted accurately, then interacting with that agent will decrease the empowerment of the original agent. This leads to behaviour realizing collision avoidance with other agents, purely from maximising an agent’s empowermentFinal Accepted Versio

Information-theoretic measures as a generic approach to human-robot interaction : Application in CORBYS project

Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the Owner/AuthorThe objective of the CORBYS project is to design and implement a robot control architecture that allows the integration of high-level cognitive control modules, such as a semantically-driven self-awareness module and a cognitive framework for anticipation of, and synergy with, human behaviour based on biologically-inspired information-theoretic principles. CORBYS aims to provide a generic control architecture to benefit a wide range of applications where robots work in synergy with humans, ranging from mobile robots such as robotic followers to gait rehabilitation robots. The behaviour of the two demonstrators, used for validating this architecture, will each be driven by a combination of task specific algorithms and generic cognitive algorithms. In this paper we focus on the generic algorithms based on information theoryFinal Accepted Versio

Multisensor satellite data integration for sea surface wind speed and direction determination

Techniques to integrate meteorological data from various satellite sensors to yield a global measure of sea surface wind speed and direction for input to the Navy's operational weather forecast models were investigated. The sensors were launched or will be launched, specifically the GOES visible and infrared imaging sensor, the Nimbus-7 SMMR, and the DMSP SSM/I instrument. An algorithm for the extrapolation to the sea surface of wind directions as derived from successive GOES cloud images was developed. This wind veering algorithm is relatively simple, accounts for the major physical variables, and seems to represent the best solution that can be found with existing data. An algorithm for the interpolation of the scattered observed data to a common geographical grid was implemented. The algorithm is based on a combination of inverse distance weighting and trend surface fitting, and is suited to combing wind data from disparate sources

Cloud cover typing from environmental satellite imagery. Discriminating cloud structure with Fast Fourier Transforms (FFT)

The use of two dimensional Fast Fourier Transforms (FFTs) subjected to pattern recognition technology for the identification and classification of low altitude stratus cloud structure from Geostationary Operational Environmental Satellite (GOES) imagery was examined. The development of a scene independent pattern recognition methodology, unconstrained by conventional cloud morphological classifications was emphasized. A technique for extracting cloud shape, direction, and size attributes from GOES visual imagery was developed. These attributes were combined with two statistical attributes (cloud mean brightness, cloud standard deviation), and interrogated using unsupervised clustering amd maximum likelihood classification techniques. Results indicate that: (1) the key cloud discrimination attributes are mean brightness, direction, shape, and minimum size; (2) cloud structure can be differentiated at given pixel scales; (3) cloud type may be identifiable at coarser scales; (4) there are positive indications of scene independence which would permit development of a cloud signature bank; (5) edge enhancement of GOES imagery does not appreciably improve cloud classification over the use of raw data; and (6) the GOES imagery must be apodized before generation of FFTs

Sequence homology between RNAs encoding rat α-fetoprotein and rat serum albumin

We have determined the sequences of the recombinant DNA inserts of three bacterial plasmid cDNA clones containing most of the rat α-fetoprotein mRNA. The resultant nucleotide sequence of α-fetoprotein was exhaustively compared to the nucleotide sequence of the mRNA encoding rat serum albumin. These two mRNAs have extensive homology (50%) throughout and the same intron locations. The amino acid sequence of rat α-fetoprotein has been deduced from the nucleotide sequence, and its comparison to rat serum albumin's amino acid sequence reveals a 34% homology. The regularly spaced positions of the cysteines found in serum albumin are conserved in rat α-fetoprotein, indicating that these two proteins may have a similar secondary folding structure. These homologies indicate that α-fetoprotein and serum albumin were derived by duplication of a common ancestral gene and constitute a gene family

Application of image processing technology to problems in manuscript encapsulation

The long term effects of encapsulation individual sheets of the Codex Hammer were investigated. The manuscript was simulated with similar sheets of paper which were photographed under repeatable raking light conditions to enhance their surface texture, encapsulated in plexiglas, cycled in an environmental test chamber, and rephotographed at selected intervals. The film images were digitized, contrast enhanced, geometrically registered, and apodized. An FFT analysis of a control sheet and two experimental sheets indicates no micro-burnishing, but reveals that the ""mesoscale'' deformations with sizes 8mm are degrading monotonically, which is of no concern. Difference image analysis indicates that the sheets were increasingly stressed with time and that the plexiglas did not provide a sufficient environmental barrier under the simulation conditions. The relationship of these results to the Codex itself is to be determined

CORBYS cognitive control architecture for robotic follower

In this paper the novel generic cognitive robot control architecture CORBYS is presented. The objective of the CORBYS architecture is the integration of high-level cognitive modules to support robot functioning in dynamic environments including interacting with humans. This paper presents the preliminary integration of the CORBYS architecture to support a robotic follower. Experimental results on high-level empowerment-based trajectory planning have demonstrated the effectiveness of ROS-based communication between distributed modules developed in a multi-site research environment as typical for distributed collaborative projects such as CORBYS

Pharmacological targeting of KDM6A and KDM6B, as a novel therapeutic strategy for treating craniosynostosis in Saethre-Chotzen syndrome

Background: During development, excessive osteogenic differentiation of mesenchymal progenitor cells (MPC) within the cranial sutures can lead to premature suture fusion or craniosynostosis, leading to craniofacial and cognitive issues. Saethre-Chotzen syndrome (SCS) is a common form of craniosynostosis, caused by TWIST-1 gene mutations. Currently, the only treatment option for craniosynostosis involves multiple invasive cranial surgeries, which can lead to serious complications. Methods: The present study utilized Twist-1 haploinsufficient (Twist-1(del/+)) mice as SCS mouse model to investigate the inhibition of Kdm6a and Kdm6b activity using the pharmacological inhibitor, GSK-J4, on calvarial cell osteogenic potential. Results: This study showed that the histone methyltransferase EZH2, an osteogenesis inhibitor, is downregulated in calvarial cells derived from Twist-1(del/+) mice, whereas the counter histone demethylases, Kdm6a and Kdm6b, known promoters of osteogenesis, were upregulated. In vitro studies confirmed that siRNA-mediated inhibition of Kdm6a and Kdm6b expression suppressed osteogenic differentiation of Twist-1(del/+) calvarial cells. Moreover, pharmacological targeting of Kdm6a and Kdm6b activity, with the inhibitor, GSK-J4, caused a dose-dependent suppression of osteogenic differentiation by Twist-1(del/+) calvarial cells in vitro and reduced mineralized bone formation in Twist-1(del/+) calvarial explant cultures. Chromatin immunoprecipitation and Western blot analyses found that GSK-J4 treatment elevated the levels of the Kdm6a and Kdm6b epigenetic target, the repressive mark of tri-methylated lysine 27 on histone 3, on osteogenic genes leading to repression of Runx2 and Alkaline Phosphatase expression. Pre-clinical in vivo studies showed that local administration of GSK-J4 to the calvaria of Twist-1(del/+) mice prevented premature suture fusion and kept the sutures open up to postnatal day 20. Conclusion: The inhibition of Kdm6a and Kdm6b activity by GSK-J4 could be used as a potential non-invasive therapeutic strategy for preventing craniosynostosis in children with SCS.Clara Pribadi, Esther Camp, Dimitrios Cakouros, Peter Anderson, Carlotta Glackin and Stan Grontho

Sensing of explosive vapor by hybrid perovskites : effect of dimensionality

Funding: Engineering and Physical Sciences Research Council under grants EP/T01119X/1 and EP/K503940/1, and the NATO Science for Peace & Security programme under grant agreement MYP G5355.Lead halide perovskites are very promising materials for many optoelectronic devices. They are low cost, photostable, and strongly photoluminescent materials, but so far have been little studied for sensing. In this article, we explore hybrid perovskites as sensors for explosive vapor. We tune the dimensionality of perovskite films in order to modify their exciton binding energy and film morphology and explore the effect on sensing response. We find that tuning from the 3D to the 0D regime increases the PL quenching response of perovskite films to the vapor of dinitrotoluene (DNT)—a molecule commonly found in landmines. We find that films of 0D perovskite nanocrystals work as sensitive and stable sensors, with strong PL responses to DNT molecules at concentrations in the parts per billion range. The PL quenching response can easily be reversed, making the sensors reusable. We compare the response to several explosive vapors and find that the response is strongest for DNT. These results show that hybrid perovskites have great potential for vapor sensing applications.Publisher PDFPeer reviewe