More than one way to see it: Individual heuristics in avian visual computation

Comparative pattern learning experiments investigate how different species find regularities in sensory input, providing insights into cognitive processing in humans and other animals. Past research has focused either on one species’ ability to process pattern classes or different species’ performance in recognizing the same pattern, with little attention to individual and species-specific heuristics and decision strategies. We trained and tested two bird species, pigeons (Columba livia) and kea (Nestor notabilis, a parrot species), on visual patterns using touch-screen technology. Patterns were composed of several abstract elements and had varying degrees of structural complexity. We developed a model selection paradigm, based on regular expressions, that allowed us to reconstruct the specific decision strategies and cognitive heuristics adopted by a given individual in our task. Individual birds showed considerable differences in the number, type and heterogeneity of heuristic strategies adopted. Birds’ choices also exhibited consistent species-level differences. Kea adopted effective heuristic strategies, based on matching learned bigrams to stimulus edges. Individual pigeons, in contrast, adopted an idiosyncratic mix of strategies that included local transition probabilities and global string similarity. Although performance was above chance and quite high for kea, no individual of either species provided clear evidence of learning exactly the rule used to generate the training stimuli. Our results show that similar behavioral outcomes can be achieved using dramatically different strategies and highlight the dangers of combining multiple individuals in a group analysis. These findings, and our general approach, have implications for the design of future pattern learning experiments, and the interpretation of comparative cognition research more generally

Perception of Infant Colic by Caucasian and Hispanic Mothers in the WIC Program

Colic is a phenomenon of early infancy that frustrates and puzzles parents and health providers. Colic accounts for a large number of provider visits as parents are concerned and seeking answers to this infant behavior. Feeding practices, allergy, gastrointestinal abnormalities, parental interaction and an extreme form of normal infant behavior have been projected as possible causes of colic. Research has also focused on coping mechanisms and support for parents experiencing colic with their infants. Furthermore, research on colic is somewhat limited is ethically diverse infant populations. A descriptive design was used to explore the differences in maternal perception of colic between Caucasian and Hispanic mothers. King's (1981) Interacting Systems Framework and the association concept of perception provided the theoretical framework for the study. A convenience sample of mothers enrolled in the WIC program at a rural health department and a migrant health clinic were given the maternal Perception of Infant Colic question are to complete. Infant behaviors, crying and feeding patterns as well as maternal perceptions were explored. Analysis revealed statistically significant results on only one item of the Maternal Perception of Infant Colic question are. Caucasian and Hispanic mothers responses varied on whether infant colic was related to the way the infant was cared for. An interesting finding of the study was that differences in infant care practices, such as feeding and pacifier use were present. This finding suggests further research in infant care practices is indicated.Master'sSchool of Health Professions and Studies: NursingUniversity of Michiganhttp://deepblue.lib.umich.edu/bitstream/2027.42/117707/1/Fitch.pd

Probabilistic Maximum Set Cover with Path Constraints for Informative Path Planning

We pose a new formulation for informative path planning problems as a generalisation of the well-known maximum set cover problem. This new formulation adds path constraints and travel costs, as well as a probabilistic observation model, to the maximum set cover problem. Our motivation is informative path planning applications where the observation model can be naturally encoded as overlapping subsets of a set of discrete elements. These elements may include features, landmarks, regions, targets or more abstract quantities, that the robot aims to observe while moving through the environment with a given travel budget. This formulation allows directly modelling the dependencies of observations from different viewpoints. We show this problem is NP-hard and propose a branch and bound tree search algorithm. Simulated experiments empirically evaluate the bounding heuristics, several tree expansion policies and convergence rate towards optimal. The tree pruning allows finding optimal or bounded-approximate solutions in a reasonable amount of time, and therefore indicates our work is suitable for practical applications

Secrecy Rate Analysis of UAV-Enabled mmWave Networks Using Matérn Hardcore Point Processes

© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Communications aided by low-altitude unmanned aerial vehicles (UAVs) have emerged as an effective solution to provide large coverage and dynamic capacity for both military and civilian applications, especially in unexpected scenarios. However, because of their broad coverage, UAV communications are prone to passive eavesdropping attacks. This paper analyzes the secrecy performance of UAVs networks at the millimeter wave band and takes into account unique features of air-to-ground channels and practical constraints of UAV deployment. To be specific, it explores the 3-D antenna gain in the air-to-ground links and uses the Matérn hardcore point process to guarantee the safety distance between the randomly deployed UAV base stations. In addition, we propose the transmit jamming strategy to improve the secrecy performance in which part of UAVs send jamming signals to confound the eavesdropper

Path planning with spatiotemporal optimal stopping for stochastic mission monitoring

© 2017 IEEE. We consider an optimal stopping formulation of the mission monitoring problem, in which a monitor vehicle must remain in close proximity to an autonomous robot that stochastically follows a predicted trajectory. This problem arises in a diverse range of scenarios, such as autonomous underwater vehicles supervised by surface vessels, pedestrians monitored by aerial vehicles, and animals monitored by agricultural robots. The key problem characteristics we consider are that the monitor must remain stationary while observing the robot, robot motion is modeled in general as a stochastic process, and observations are modeled as a spatial probability distribution. We propose a resolution-complete algorithm that runs in a polynomial time. The algorithm is based on a sweep-plane approach and generates a motion plan that maximizes the expected observation time and value. A variety of stochastic models may be used to represent the robot trajectory. We present results with data drawn from real AUV missions, a real pedestrian trajectory dataset and Monte Carlo simulations. Our results demonstrate the performance and behavior of our algorithm, and relevance to a variety of applications

Online planning for multi-robot active perception with self-organising maps

© 2017, Springer Science+Business Media, LLC, part of Springer Nature. We propose a self-organising map (SOM) algorithm as a solution to a new multi-goal path planning problem for active perception and data collection tasks. We optimise paths for a multi-robot team that aims to maximally observe a set of nodes in the environment. The selected nodes are observed by visiting associated viewpoint regions defined by a sensor model. The key problem characteristics are that the viewpoint regions are overlapping polygonal continuous regions, each node has an observation reward, and the robots are constrained by travel budgets. The SOM algorithm jointly selects and allocates nodes to the robots and finds favourable sequences of sensing locations. The algorithm has a runtime complexity that is polynomial in the number of nodes to be observed and the magnitude of the relative weighting of rewards. We show empirically the runtime is sublinear in the number of robots. We demonstrate feasibility for the active perception task of observing a set of 3D objects. The viewpoint regions consider sensing ranges and self-occlusions, and the rewards are measured as discriminability in the ensemble of shape functions feature space. Exploration objectives for online tasks where the environment is only partially known in advance are modelled by introducing goal regions in unexplored space. Online replanning is performed efficiently by adapting previous solutions as new information becomes available. Simulations were performed using a 3D point-cloud dataset from a real robot in a large outdoor environment. Our results show the proposed methods enable multi-robot planning for online active perception tasks with continuous sets of candidate viewpoints and long planning horizons