Enactivism and Robotic Language Acquisition: A Report from the Frontier

In this article, I assess an existing language acquisition architecture, which was deployed in linguistically unconstrained human–robot interaction, together with experimental design decisions with regard to their enactivist credentials. Despite initial scepticism with respect to enactivism’s applicability to the social domain, the introduction of the notion of participatory sense-making in the more recent enactive literature extends the framework’s reach to encompass this domain. With some exceptions, both our architecture and form of experimentation appear to be largely compatible with enactivist tenets. I analyse the architecture and design decisions along the five enactivist core themes of autonomy, embodiment, emergence, sense-making, and experience, and discuss the role of affect due to its central role within our acquisition experiments. In conclusion, I join some enactivists in demanding that interaction is taken seriously as an irreducible and independent subject of scientific investigation, and go further by hypothesising its potential value to machine learning.Peer reviewedFinal Published versio

From Filamentary Networks to Dense Cores in Molecular Clouds: Toward a New Paradigm for Star Formation

Recent studies of the nearest star-forming clouds of the Galaxy at submillimeter wavelengths with the Herschel Space Observatory have provided us with unprecedented images of the initial and boundary conditions of the star formation process. The Herschel results emphasize the role of interstellar filaments in the star formation process and connect remarkably well with nearly a decade's worth of numerical simulations and theory that have consistently shown that the ISM should be highly filamentary on all scales and star formation is intimately related to self-gravitating filaments. In this review, we trace how the apparent complexity of cloud structure and star formation is governed by relatively simple universal processes - from filamentary clumps to galactic scales. We emphasize two crucial and complementary aspects: (i) the key observational results obtained with Herschel over the past three years, along with relevant new results obtained from the ground on the kinematics of interstellar structures, and (ii) the key existing theoretical models and the many numerical simulations of interstellar cloud structure and star formation. We then synthesize a comprehensive physical picture that arises from the confrontation of these observations and simulations.Comment: 24 pages, 15 figures. Accepted for publication as a review chapter in Protostars and Planets VI, University of Arizona Press (2014), eds. H. Beuther, R. Klessen, C. Dullemond, Th. Hennin

The Evolution of Cloud Cores and the Formation of Stars

For a number of starless cores, self-absorbed molecular line and column density observations have implied the presence of large-amplitude oscillations. We examine the consequences of these oscillations on the evolution of the cores and the interpretation of their observations. We find that the pulsation energy helps support the cores and that the dissipation of this energy can lead toward instability and star formation. In this picture, the core lifetimes are limited by the pulsation decay timescales, dominated by non-linear mode-mode coupling, and on the order of ~few x 10^5--10^6 yr. Notably, this is similar to what is required to explain the relatively low rate of conversion of cores into stars. For cores with large-amplitude oscillations, dust continuum observations may appear asymmetric or irregular. As a consequence, some of the cores that would be classified as supercritical may be dynamically stable when oscillations are taken into account. Thus, our investigation motivates a simple hydrodynamic picture, capable of reproducing many of the features of the progenitors of stars without the inclusion of additional physical processes, such as large-scale magnetic fields.Comment: 12 pages, 7 figures, submitted to Ap

The Initial Conditions of Clustered Star Formation. II. N2H+ Observations of the Ophiuchus B Core

We present a Nobeyama 45 m Radio Telescope map and Australia Telescope Compact Array pointed observations of N2H+ 1-0 emission towards the clustered, low mass star forming Oph B Core within the Ophiuchus molecular cloud. We compare these data with previously published results of high resolution NH3 (1,1) and (2,2) observations in Oph B. We use 3D Clumpfind to identify emission features in the single-dish N2H+ map, and find that the N2H+ `clumps' match well similar features previously identified in NH3 (1,1) emission, but are frequently offset to clumps identified at similar resolution in 850 micron continuum emission. Wide line widths in the Oph B2 sub-Core indicate non-thermal motions dominate the Core kinematics, and remain transonic at densities n ~ 3 x 10^5 cm^-3 with large scatter and no trend with N(H2). Non-thermal motions in Oph B1 and B3 are subsonic with little variation, but also show no trend with H2 column density. Over all Oph B, non-thermal N2H+ line widths are substantially narrower than those traced by NH3, making it unlikely NH3 and N2H+ trace the same material, but the v_LSR of both species agree well. We find evidence for accretion in Oph B1 from the surrounding ambient gas. The NH3/N2H+ abundance ratio is larger towards starless Oph B1 than towards protostellar Oph B2, similar to recent observational results in other star-forming regions. Small-scale structure is found in the ATCA N2H+ 1-0 emission, where emission peaks are again offset from continuum emission. In particular, the ~1 M_Sun B2-MM8 clump is associated with a N2H+ emission minimum and surrounded by a broken ring-like N2H+ emission structure, suggestive of N2H+ depletion. We find a strong general trend of decreasing N2H+ abundance with increasing N(H2) in Oph B which matches that found for NH3.Comment: 55 pages (manuscript), 15 figures, ApJ accepte

A family of linearizable recurrences with the Laurent property

We consider a family of non-linear recurrences with the Laurent property. Although these recurrences are not generated by mutations in a cluster algebra, they fit within the broader framework of Laurent phenomenon algebras, as introduced recently by Lam and Pylyavskyy. Furthermore, each member of this family is shown to be linearizable in two different ways, in the sense that its iterates satisfy both a linear relation with constant coefficients and a linear relation with periodic coefficients. Associated monodromy matrices and first integrals are constructed, and the connection with the dressing chain for Schrödinger operators is also explained

Quantifying the effect of solution formulation on the removal of soft solid food deposits from stainless steel substrates

The role of detergent formulation on the cleaning of a complex carbohydrate-fat food soil from stainless steel surfaces was studied using a modified version of the millimanipulation device described by Ali et al. (2015b) which allowed the force required to scrape the soil from the surface to be measured as the soil is immersed, in situ and in real time. This allowed the influence of temperature, solution chemistry and time on the mechanical forces (rheology) and removal behaviour of the soil to be studied – in effect quantifying the relationships in Sinner’s cleaning circle. The soil simulated a burnt-on baked-on deposit and featured regular cracking in the 300 μm thick layer. The removal force decreased noticeably on hydration: the cleaning mechanism was then determined by the agents present. At 20ºC, below the temperature at which the fat phase was mobile, removal was characterised by cohesive failure except in the presence of the cationic surfactant CTAB, which promoted adhesive failure and fast decay in removal force. At 50ºC, when the fat was mobile, a transition between cohesive and adhesive failure was observed at pH 7 which was inhibited at higher pH. Adhesive failure and fast decay in removal force was observed at higher pH and 50ºC in the presence of the anionic and non-ionic surfactants, SDBS and TX-100, respectively.EPSRC iCASE Studentship Support from Proctor & Gambl

Non-aqueous formulations for ram and screen extrusion-spheronisation.

The use of non-aqueous cellulose-based formulations for extrusion-spheronisation (E-S) is investigated. A 10 wt% hydroxypropyl cellulose/isopropyl alcohol solution (HPC/IPA) was identified as a suitable sticky liquid binder for preparing non-aqueous pastes. Preliminary tests were performed on a series of pastes using a ram as well as a laboratory roller screen extruder, since the former is commonly used in batch testing and the latter replicates the shear range in a manufacturing screen extruder. Pellets with acceptable size and shape distributions were obtained with Avicel® HFE-102 NF/HPC/IPA for ram E-S, and with Avicel® RC-591/HPC/IPA for screen E-S. Further investigation was performed with calcium carbonate added as a model active pharmaceutical ingredient. Both formulations were able to generate pellets with acceptable size and shape characteristics at up to 50 wt% carbonate loading: further work is required to optimise yields.EPSRC Dorothy Hodgkin studentship for Min Zhang supported by MS

Limits on Radio Continuum Emission from a Sample of Candidate Contracting Starless Cores

We used the NRAO Very Large Array to search for 3.6 cm continuum emission from embedded protostars in a sample of 8 nearby ``starless'' cores that show spectroscopic evidence for infalling motions in molecular emission lines. We detect a total of 13 compact sources in the eight observed fields to 5 sigma limiting flux levels of typically 0.09 mJy. None of these sources lie within 1' of the central positions of the cores, and they are all likely background objects. Based on an extrapolation of the empirical correlation between the bolometric luminosity and 3.6 cm luminosity for the youngest protostars, these null-detections place upper limits of ~0.1 L_sun (d/140pc)^2 on the luminosities of protostellar sources embedded within these cores. These limits, together with the extended nature of the inward motions inferred from molecular line mapping (Lee et al. 2001), are inconsistent with the inside-out collapse model of singular isothermal spheres and suggest a less centrally condensed phase of core evolution during the earliest stages of star formation.Comment: Accepted to the Astronomical Journal; 12 pages, 1 figur