Using learned action models in execution monitoring

Planners reason with abstracted models of the behaviours they use to construct plans. When plans are turned into the instructions that drive an executive, the real behaviours interacting with the unpredictable uncertainties of the environment can lead to failure. One of the challenges for intelligent autonomy is to recognise when the actual execution of a behaviour has diverged so far from the expected behaviour that it can be considered to be a failure. In this paper we present further developments of the work described in (Fox et al. 2006), where models of behaviours were learned as Hidden Markov Models. Execution of behaviours is monitored by tracking the most likely trajectory through such a learned model, while possible failures in execution are identified as deviations from common patterns of trajectories within the learned models. We present results for our experiments with a model learned for a robot behaviour

Expression of alternatively spliced isoforms of human Sp7 in osteoblast-like cells

BACKGROUND: Osteogenic and chondrocytic differentiation involves a cascade of coordinated transcription factor gene expression that regulates proliferation and matrix protein formation in a defined temporo-spatial manner. Bone morphogenetic protein-2 induces expression of the murine Osterix/Specificity protein-7 (Sp7) transcription factor that is required for osteoblast differentiation and bone formation. Regulation of its expression may prove useful for mediating skeletal repair. RESULTS: Sp7, the human homologue of the mouse Osterix gene, maps to 12q13.13, close to Sp1 and homeobox gene cluster-C. The first two exons of the 3-exon gene are alternatively spliced, encoding a 431-residue long protein isoform and an amino-terminus truncated 413-residue short protein isoform. The human Sp7 protein is a member of the Sp family having 78% identity with Sp1 in the three, Cys2-His2 type, DNA-binding zinc-fingers, but there is little homology elsewhere. The Sp7 mRNA was expressed in human foetal osteoblasts and craniofacial osteoblasts, chondrocytes and the osteosarcoma cell lines HOS and MG63, but was not detected in adult femoral osteoblasts. Generally, the expression of the short (or beta) protein isoform of Sp7 was much higher than the long (or alpha) protein isoform. No expression of either isoform was found in a panel of other cell types. However, in tissues, low levels of Sp7 were detected in testis, heart, brain, placenta, lung, pancreas, ovary and spleen. CONCLUSIONS: Sp7 expression in humans is largely confined to osteoblasts and chondrocytes, both of which differentiate from the mesenchymal lineage. Of the two protein isoforms, the short isoform is most abundant

Probing Solar Convection

In the solar convection zone acoustic waves are scattered by turbulent sound speed fluctuations. In this paper the scattering of waves by convective cells is treated using Rytov's technique. Particular care is taken to include diffraction effects which are important especially for high-degree modes that are confined to the surface layers of the Sun. The scattering leads to damping of the waves and causes a phase shift. Damping manifests itself in the width of the spectral peak of p-mode eigenfrequencies. The contribution of scattering to the line widths is estimated and the sensitivity of the results on the assumed spectrum of the turbulence is studied. Finally the theoretical predictions are compared with recently measured line widths of high-degree modes.Comment: 26 pages, 7 figures, accepted by MNRA

Stimulation of autologous blood lymphocytes by malignant lymphoma cells and homogenates.

The blastogenic response to autologous blood lymphocytes to whole-cell suspensions and to homogenates obtained from malignant lymphoma tissue has been investigated. Spleens were obtained from patients in whom laparotomy was performed for staging of malignant lymphoma. Cell suspensions prepared from tumour nodules were treated with mitomycin C and allowed to react with separated autologous blood lymphocytes for 6 days. Lymphocyte stimulation was measured by liquid scintillation counting after exposure to 3H-TdR. Cultures were also prepared in which autologous lymphocytes were treated with spleen tumour homogenate. Control experiments used spleens from staging procedures in which no tumour deposits were present, and normal spleens removed incidentally during other operations. In the controls, the uptake of TdR was never more than twice that of unstimulated lymphocytes. Greater degrees of lymphocyte stimulation were seen in 6 out of 14 patients, using whole tumour cells, and in 7 out of 16 patients, using tumour homogenates. The results indicate an antigenic difference between tumour and host cells, and suggest that lymphocytes can react to a tumour-associated antigen

Evaluating single-sided natural ventilation models against full-scale idealised measurements: impact of wind direction and turbulence

Commonly single-sided natural ventilation is used in temperate climates to provide comfortable and healthy indoor environments. However, within built-up areas it is difficult to predict natural ventilation rates for buildings as they depend on many flow factors and opening type. Here, existing models are evaluated using the nine-month Refresh Cube Campaign (RCC). Pressure-based ventilation rates were determined for a small opening (1% porosity) in a cubical test building (side=6 m). The building was isolated and then sheltered in a limited staggered building array to simulate turbulent flows in dense urban areas. Internal and external flow, temperature and pressure measurements captured a wide range of scales of variability. Although the Warren and Parkins (1985, WP85) model performed best for 30-minute mean ventilation rates, all four models tested underestimated ventilation rates by a factor of 10. As wind dominated the stack effect, new coefficients were derived for the WP85 wind-driven model as a function of wind angle. Predictions were mostly improved, except for directions with complex flow patterns during the sheltered case. For the first time, the relation between ventilation rate and turbulence intensity (TI) around a full-scale building was tested. Results indicate that the wind-driven model for single-sided ventilation in highly turbulent flows (0.5<TI<4) can be improved by including TI as a multiplicative factor. Although small window openings with highly turbulent flows are common for sheltered buildings in urban areas, future model development should include a variety of configurations to assess the generality of these results

Prospects for Measuring Differential Rotation in White Dwarfs Through Asteroseismology

We examine the potential of asteroseismology for exploring the internal rotation of white dwarf stars. Data from global observing campaigns have revealed a wealth of frequencies, some of which show the signature of rotational splitting. Tools developed for helioseismology to use many solar p-mode frequencies for inversion of the rotation rate with depth are adapted to the case of more limited numbers of modes of low degree. We find that the small number of available modes in white dwarfs, coupled with the similarity between the rotational-splitting kernels of the modes, renders direct inversion unstable. Accordingly, we adopt what we consider to be plausible functional forms for the differential rotation profile; this is sufficiently restrictive to enable us to carry out a useful calibration. We show examples of this technique for PG 1159 stars and pulsating DB white dwarfs. Published frequency splittings for white dwarfs are currently not accurate enough for meaningful inversions; reanalysis of existing data can provide splittings of sufficient accuracy when the frequencies of individual peaks are extracted via least-squares fitting or multipeak decompositions. We find that when mode trapping is evident in the period spacing of g modes, the measured splittings can constrain dOmega/dr.Comment: 26 pages, 20 postscript figures. Accepted for publication in The Astrophysical Journa

Solar-cycle variation of the sound-speed asphericity from GONG and MDI data 1995-2000

We study the variation of the frequency splitting coefficients describing the solar asphericity in both GONG and MDI data, and use these data to investigate temporal sound-speed variations as a function of both depth and latitude during the period from 1995-2000 and a little beyond. The temporal variations in even splitting coefficients are found to be correlated to the corresponding component of magnetic flux at the solar surface. We confirm that the sound-speed variations associated with the surface magnetic field are superficial. Temporally averaged results show a significant excess in sound speed around 0.92 solar radii and latitude of 60 degrees.Comment: To be published in MNRAS, accepted July 200

Asteroseismic Theory of Rapidly Oscillating Ap Stars

This paper reviews some of the important advances made over the last decade concerning theory of roAp stars.Comment: 9 pages, 5 figure

The RISE project: evidence-informed school improvement. Evaluation report

Research leads Improving Students’ Education (RISE) aimed to test whether a research-informed school improvement model improved the mathematics and English attainment of pupils in years 10 and 11. Each participating school appointed a senior teacher as a Research Lead who was responsible for promoting and supporting the use of research throughout the school. The Research Leads were supported by a programme developed and delivered by a team from Huntington School in York. This included an initial eight CPD sessions, termly follow-up meetings over two academic years, a bespoke email newsletter, a website with resources, a peer network, and school visits by the RISE team. The team also provided a workshop for headteachers and annual workshops for English and mathematics subject leads. Research Leads were encouraged to deploy a research-informed school improvement model: 1. Decide what you want to achieve. Identify priorities using internal data and professional judgement 2. Identify possible solutions. External evidence summarized in the Toolkit can be used to inform choices 3. Give the idea the best chance of success. Applying the ingredients of effective implementation 4. Evaluate the impact of your decisions and identify possible improvements for the future 5. Secure and spread change. Mobilise the knowledge and use the findings to inform the work of the school to grow or stop the intervention. A randomised controlled trial was used to evaluate the impact of the intervention on GCSE grades in mathematics and English. 40 secondary schools were randomly allocated to either participate in RISE or to a control group which continued with business as usual. The impact evaluation examined the impact on two cohorts of pupils. The first cohort took their GCSE exams in the 2015/6 academic year and was only exposed to one year of the intervention. The second cohort was in year 10 in 2015/16, so took their GCSE exams in 2016/17 and was exposed to two years of the intervention. The accompanying process evaluation involved observations of training; interviews with Headteachers, Research Leads and heads of English and mathematics; and surveys of teachers. The project was funded by the Education Endowment Foundation (EEF), the Department for Education and the Mayor’s London Schools Excellence Fund as part of a round of funding exploring Research Use in Schools