Tactile Discrimination Using Template Classifiers: Towards a Model of Feature Extraction in Mammalian Vibrissal Systems

Rats and other whiskered mammals are capable of making sophisticated sensory discriminations using tactile signals from their facial whiskers (vibrissae). As part of a programme of work to develop biomimetic technologies for vibrissal sensing, including whiskered robots, we are devising algorithms for the fast extraction of object parameters from whisker deflection data. Previous work has demonstrated that radial distance to contact can be estimated from forces measured at the base of the whisker shaft. We show that in the case of a moving object contacting a whisker, the measured force can be ambiguous in distinguishing a nearby object moving slowly from a more distant object moving rapidly. This ambiguity can be resolved by simultaneously extracting object position and speed from the whisker deflection time series – that is by attending to the dynamics of the whisker’s interaction with the object. We compare a simple classifier with an adaptive EM (Expectation Maximisation) classifier. Both systems are effective at simultaneously extracting the two parameters, the EM-classifier showing similar performance to a handpicked template classifier. We propose that adaptive classification algorithms can provide insights into the types of computations performed in the rat vibrissal system when the animal is faced with a discrimination task

MIRO: A robot “Mammal” with a biomimetic brain-based control system

We describe the design of a novel commercial biomimetic brain-based robot, MIRO, developed as a prototype robot companion. The MIRO robot is animal-like in several aspects of its appearance, however, it is also biomimetic in a more significant way, in that its control architecture mimics some of the key principles underlying the design of the mammalian brain as revealed by neuroscience. Specifically, MIRO builds on decades of previous work in developing robots with brain-based control systems using a layered control architecture alongside centralized mechanisms for integration and action selection. MIRO’s control system operates across three core processors, P1-P3, that mimic aspects of spinal cord, brainstem, and forebrain functionality respectively. Whilst designed as a versatile prototype for next generation companion robots, MIRO also provides developers and researchers with a new platform for investigating the potential advantages of brain-based control

Storage capacity of a constructive learning algorithm

Upper and lower bounds for the typical storage capacity of a constructive algorithm, the Tilinglike Learning Algorithm for the Parity Machine [M. Biehl and M. Opper, Phys. Rev. A {\bf 44} 6888 (1991)], are determined in the asymptotic limit of large training set sizes. The properties of a perceptron with threshold, learning a training set of patterns having a biased distribution of targets, needed as an intermediate step in the capacity calculation, are determined analytically. The lower bound for the capacity, determined with a cavity method, is proportional to the number of hidden units. The upper bound, obtained with the hypothesis of replica symmetry, is close to the one predicted by Mitchinson and Durbin [Biol. Cyber. {\bf 60} 345 (1989)].Comment: 13 pages, 1 figur

A stochastic model for topographically influenced cell migration.

Migrating cells traverse a range of topographic configurations presented by the native extracellular environment to conduct their physiologic functions. It is well documented cells can modulate their behaviour in response to different topographic features, finding promising applications in biomaterial and bioimplant design. It is useful, in these areas of research, to be able to predict which topographic arrangements could be used to promote certain patterns of migration prior to laboratory experimentation. Despite a profusion of study and interest shown in these fields by experimentalists, the related modelling literature is as yet relatively sparse and tend to focus more on either cell-matrix interaction or morphological responses of cells. We propose a mathematical model for individual cell migration based on an Ornstein-Uhlenbeck process, and set out to see if the model can be used to predict migration patterns on 2-d isotropic and anisotropic topographies, whose characteristics can be broadly described as either uniform flat, uniform linear with variable ridge density or non-uniform disordered with variable feature density. Results suggest the model is capable of producing realistic patterns of migration for flat and linear topographic patterns, with calibrated output closely approximating NIH3T3 fibroblast migration behaviour derived from an experimental dataset, in which migration linearity increased with ridge density and average speed was highest at intermediate ridge densities. Exploratory results for non-uniform disordered topographies suggest cell migration patterns may adopt disorderedness present in the topography and that 'distortion' introduced to linear topographic patterns may not impede linear guidance of migration, given it's magnitude is bounded within certain limits. We conclude that an Ornstein-Uhlenbeck based model for topographically influenced migration may be useful to predict patterns of migration behaviour for certain isotropic (flat) and anisotropic (linear) topographies in the NIH3T3 fibroblast cell line, but additional investigation is required to predict with confidence migration patterns for non-uniform disordered topographic arrangements

You made him be alive: Children’s perceptions of animacy in a humanoid robot

Social robots are becoming more sophisticated; in many cases they offer complex, autonomous interactions, responsive behaviors, and biomimetic appearances. These features may have significant impact on how people perceive and engage with robots; young children may be particularly influenced due to their developing ideas of agency. Young children are considered to hold naive beliefs of animacy and a tendency to mis-categorise moving objects as being alive but, with development, children can demonstrate a biological understanding of animacy. We experimentally explore the impact of children’s age and a humanoid’s movement on children’s perceptions of its animacy. Our humanoid’s behavior varied in apparent autonomy, from motionless, to manually operated, to covertly operated. Across conditions, younger children rated the robot as being significantly more person-like than older children did. We further found an interaction effect: younger children classified the robot as significantly more machine-like if they observed direct operation in contrast observing the motionless or apparently autonomous robot. Our findings replicate field results, supporting the modal model of the developmental trajectory for children’s understanding of animacy. We outline a program of research to both deepen the theoretical understanding of children’s animacy beliefs and develop robotic characters appropriate across key stages of child development

Perceptions and experiences of healthcare workers during the COVID-19 pandemic in the UK

OBJECTIVE: The COVID-19 pandemic has set unprecedented demand on the healthcare workforce around the world. The UK has been one of the most affected countries in Europe. The aim of this study was to explore the perceptions and experiences of healthcare workers (HCWs) in relation to COVID-19 and care delivery models implemented to deal with the pandemic in the UK. METHODS: The study was designed as a rapid appraisal combining: (1) a review of UK healthcare policies (n=35 policies), (2) mass media and social media analysis of front-line staff experiences and perceptions (n=101 newspaper articles, n=1 46 000 posts) and (3) in-depth (telephone) interviews with front-line staff (n=30 interviews). The findings from all streams were analysed using framework analysis. RESULTS: Limited personal protective equipment (PPE) and lack of routine testing created anxiety and distress and had a tangible impact on the workforce. When PPE was available, incorrect size and overheating complicated routine work. Lack of training for redeployed staff and the failure to consider the skills of redeployed staff for new areas were identified as problems. Positive aspects of daily work reported by HCWs included solidarity between colleagues, the establishment of well-being support structures and feeling valued by society. CONCLUSION: Our study highlighted the importance of taking into consideration the experiences and concerns of front-line staff during a pandemic. Staff working in the UK during the COVID-19 pandemic advocated clear and consistent guidelines, streamlined testing of HCWs, administration of PPE and acknowledgement of the effects of PPE on routine practice

Perceptions and experiences of healthcare workers during the COVID-19 pandemic in the UK

Objective The COVID-19 pandemic has set unprecedented demand on the healthcare workforce around the world. The UK has been one of the most affected countries in Europe. The aim of this study was to explore the perceptions and experiences of healthcare workers (HCWs) in relation to COVID-19 and care delivery models implemented to deal with the pandemic in the UK. Methods The study was designed as a rapid appraisal combining: (1) a review of UK healthcare policies (n=35 policies), (2) mass media and social media analysis of front-line staff experiences and perceptions (n=101 newspaper articles, n=1 46 000 posts) and (3) in-depth (telephone) interviews with front-line staff (n=30 interviews). The findings from all streams were analysed using framework analysis. Results Limited personal protective equipment (PPE) and lack of routine testing created anxiety and distress and had a tangible impact on the workforce. When PPE was available, incorrect size and overheating complicated routine work. Lack of training for redeployed staff and the failure to consider the skills of redeployed staff for new areas were identified as problems. Positive aspects of daily work reported by HCWs included solidarity between colleagues, the establishment of well-being support structures and feeling valued by society. Conclusion Our study highlighted the importance of taking into consideration the experiences and concerns of front-line staff during a pandemic. Staff working in the UK during the COVID-19 pandemic advocated clear and consistent guidelines, streamlined testing of HCWs, administration of PPE and acknowledgement of the effects of PPE on routine practice

Recommendations for measuring whisker movements and locomotion in mice with sensory, motor and cognitive deficits.

BACKGROUND: Previous studies have measured whisker movements and locomotion to characterise mouse models of neurodegenerative disease. However, these studies have always been completed in isolation, and do not involve standardized procedures for comparisons across multiple mouse models and background strains. NEW METHOD: We present a standard method for conducting whisker movement and locomotion studies, by carrying out qualitative scoring and quantitative measurement of whisker movements from high-speed video footage of mouse models of Amyotrophic Lateral Sclerosis, Huntington's disease, Parkinson's disease, Alzheimer's disease, Cerebellar Ataxia, Somatosensory Cortex Development and Ischemic stroke. RESULTS: Sex, background strain, source breeder and genotype all affected whisker movements. All mouse models, apart from Parkinson's disease, revealed differences in whisker movements during locomotion. R6/2 CAG250 Huntington's disease mice had the strongest behavioural phenotype. Robo3R3-5-CKO and RIM-DKOSert mouse models have abnormal somatosensory cortex development and revealed significant changes in whisker movements during object exploration. COMPARISON WITH EXISTING METHOD(S): Our results have good agreement with past studies, which indicates the robustness and reliability of measuring whisking. We recommend that differences in whisker movements of mice with motor deficits can be captured in open field arenas, but that mice with impairments to sensory or cognitive functioning should also be filmed investigating objects. Scoring clips qualitatively before tracking will help to structure later analyses. CONCLUSIONS: Studying whisker movements provides a quantitative measure of sensing, motor control and exploration. However, the effect of background strain, sex and age on whisker movements needs to be better understood