Temporal-Difference Learning to Assist Human Decision Making during the Control of an Artificial Limb

In this work we explore the use of reinforcement learning (RL) to help with human decision making, combining state-of-the-art RL algorithms with an application to prosthetics. Managing human-machine interaction is a problem of considerable scope, and the simplification of human-robot interfaces is especially important in the domains of biomedical technology and rehabilitation medicine. For example, amputees who control artificial limbs are often required to quickly switch between a number of control actions or modes of operation in order to operate their devices. We suggest that by learning to anticipate (predict) a user's behaviour, artificial limbs could take on an active role in a human's control decisions so as to reduce the burden on their users. Recently, we showed that RL in the form of general value functions (GVFs) could be used to accurately detect a user's control intent prior to their explicit control choices. In the present work, we explore the use of temporal-difference learning and GVFs to predict when users will switch their control influence between the different motor functions of a robot arm. Experiments were performed using a multi-function robot arm that was controlled by muscle signals from a user's body (similar to conventional artificial limb control). Our approach was able to acquire and maintain forecasts about a user's switching decisions in real time. It also provides an intuitive and reward-free way for users to correct or reinforce the decisions made by the machine learning system. We expect that when a system is certain enough about its predictions, it can begin to take over switching decisions from the user to streamline control and potentially decrease the time and effort needed to complete tasks. This preliminary study therefore suggests a way to naturally integrate human- and machine-based decision making systems.Comment: 5 pages, 4 figures, This version to appear at The 1st Multidisciplinary Conference on Reinforcement Learning and Decision Making, Princeton, NJ, USA, Oct. 25-27, 201

A Survey: Services for Maladjusted School Children

There is strong evidence to support the contention that programs for meeting the needs of all behaviorally disordered and socially maladjusted school age children simply do not exist

ESTIMATING THE VALUE OF BT CORN: A MULTI-STATE COMPARISON

Bt corn offers a powerful tool to control European corn borers and some other pests. Because pest infestations and farming practices differ across the Corn Belt, economic benefits also differ. This research estimates the value of Bt corn across the Corn Belt. Results identify areas where Bt adoption is economically justified.Crop Production/Industries, Research and Development/Tech Change/Emerging Technologies,

Three-dimensional Structure of the Central Mitotic Spindle of Diatoma vulgare

Central mitotic spindles in Diatoma vulgare have been investigated using serial sections and electron microscopy. Spindles at both early stages (before metaphase) and later stages of mitosis (metaphase to telophase) have been analyzed. We have used computer graphics technology to facilitate the analysis and to produce stereo images of the central spindle reconstructed in three dimensions. We find that at prometaphase, when the nuclear envelope is dissassembling, the spindle is constructed from two sets of polar microtubules (MTs) that interdigitate to form a zone of overlap. As the chromosomes become organized into the metaphase configuration, the polar MTs, the spindle, and the zone of overlap all elongate, while the number of MTs in the central spindle decreases from greater than 700 to approximately 250. Most of the tubules lost are short ones that reside near the spindle poles. The previously described decrease in the length of the zone of overlap during anaphase central spindle elongation is clearly demonstrated in stereo images. In addition, we have used our three-dimensional data to determine the lengths of the spindle MTs at various times during mitotis. The distribution of lengths is bimodal during prometaphase, but the short tubules disappear and the long tubules elongate as mitosis proceeds. The distributions of MT lengths are compared to the length distributions of MTs polymerized in vitro, and a model is presented to account for our findings about both MT length changes and microtubule movements

Development and Persistence of 'Static' or 'Dead' Zones in Flows

Certain ceramic products are formed through extrusion processes, where a slurry is forced through small openings to form such products as filters. At the top is a large tank. The slurry is forced through the tank into an extrusion chamber, and then out through slots to form the finished product. [The slurry may be thought of as a mixture of clay (or other polymers), water, and other binders. There are many ways to model this mixture, some of which will be discussed in this report. For instance, the slurry can be modeled as a non-Newtonian fluid, a two-phase flow with liquid and solids, or a viscoelastic fluid. One can also model the mixture as an elongated particle suspension in water, where changes in the orientation of the particles could affect the flow.] After the extrusion process is complete, one finds that ‘dead zones’ of dry paste accumulate in two areas. Most prominently, they occur at the lower corners of the tank. They also occur on the floor of the extrusion chamber near the slots, both near and away from the walls. Since we will consider wall effects in the tank, for the extrusion chamber we consider only flow cells sufficiently far away from the walls. Then we may exploit the periodic nature of the device and consider only a single flow cell. The aim of this project is to determine the formation mechanisms of these dead zones, and see how they affect the overall flow

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Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/107379/1/art38396.pd

The Value of Bt Corn in Southwest Kansas: A Monte Carlo Simulation Approach

While most Corn Belt farmers consider planting Bt corn to control European corn borer, southwestern Kansas farmers must also take into account an array of other insect pests, including corn rootworm, spider mites, and southwestern corn borer. This research uses a decision analysis framework to estimate the expected economic value of Bt corn in southwest Kansas. Mean per acre Bt values ranged from $12.49 to$34.60, well above the technology fee assumed to be $14 per unit, or$5.25 per acre at a seeding rate of 30,000 seeds per acre. The minimum value over all scenarios was $8.69 per acre. Using Monte Carlo simulation, it was shown that European and southwestern corn borer infestation probabilities, expected corn price, and expected pest-free yields are important determinants of the value of Bt corn.Bt corn, decision analysis, European corn borer, integrated pest management, Monte Carlo simulation, southwestern corn borer, Crop Production/Industries,

Effects of Chemical Amendments to Swine Manure on Runoff Quality

Land-applied swine manure can be an environmental concern when runoff losses of manure constituents occur. The use of chemical amendments to mitigate these losses has been investigated for poultry litter, but materials such as swine manure have received less attention in this context, particularly at the plot scale or larger. The objective of this experiment was to evaluate the impacts of aluminum sulfate (alum; Al2(SO4)3), aluminum chloride (AlCl3), and ferric chloride (FeCl3) addition on runoff of selected constituents of land-applied swine manure. Manure was collected from feeder pigs fed a standard diet. Alum and FeCl3 were added at a stoichiometric ratio of 1.1:1 [Al:total P (TP)], and AlCl3 was added at a ratio of 1.3:1 [Al:TP]. The amended manure was incubated for six days prior to land application to fescue (Festuca arundinacea Schreber) plots. Simulated rainfall (100 mm h-1 for 0.5 h of runoff) was applied to the plots on the day of application and followed by two additional simulated rainfall events at 7 d intervals. Runoff samples were collected and analyzed for dissolved reactive phosphorus (DP), TP, ammonia nitrogen (NH3-N), nitrate nitrogen (NO3-N), total Kjeldahl nitrogen (TKN), total suspended solids (TSS), fecal coliform (FC), and 17 β-estradiol. Runoff concentrations of all constituents except NO3-N were highest for the first simulated rainfall event, approaching background levels thereafter. Relative to untreated manure, all chemical amendments were effective in reducing first-event DP, TP, and TKN concentrations. Both AlCl3 and FeCl3 reduced first-event NH3-N concentrations, and FeCl3 addition led to FC concentrations indistinguishable from the control (no manure) plots. The results indicate that these amendments have potential for promoting both environmental and agronomic benefits, implying that studies involving practicality and long-term considerations should be undertaken