Learning a Unified Control Policy for Safe Falling

Being able to fall safely is a necessary motor skill for humanoids performing highly dynamic tasks, such as running and jumping. We propose a new method to learn a policy that minimizes the maximal impulse during the fall. The optimization solves for both a discrete contact planning problem and a continuous optimal control problem. Once trained, the policy can compute the optimal next contacting body part (e.g. left foot, right foot, or hands), contact location and timing, and the required joint actuation. We represent the policy as a mixture of actor-critic neural network, which consists of n control policies and the corresponding value functions. Each pair of actor-critic is associated with one of the n possible contacting body parts. During execution, the policy corresponding to the highest value function will be executed while the associated body part will be the next contact with the ground. With this mixture of actor-critic architecture, the discrete contact sequence planning is solved through the selection of the best critics while the continuous control problem is solved by the optimization of actors. We show that our policy can achieve comparable, sometimes even higher, rewards than a recursive search of the action space using dynamic programming, while enjoying 50 to 400 times of speed gain during online execution

Preventing and Reducing CLABSI with Daily 2% CHG Wipes

This project aims to decrease central line associated bloodstream infections in pediatric patients my microsystem hospital. The process begins re-enforcing daily CHG (2% Chlorhexidine Gluconate) wipes to 100% compliance rates on our patients with central lines tailored to their age and body weights. The process ends with reducing the CLABSI rates of our unit and the entire hospital to 0. By working on the process we expect personal and organizational commitment to transform the culture of safety through integration of standardized communication, issue escalation, non punitive response to errors, rounding by all leaders, and culture of continuous improvement. It is important to work on this now because central line-associated bloodstream infections (CLABSI) needlessly afflict thousands of patients each year, lengthening hospital stays, and complicating the course of recovery

Round 2: What Does Textile and Apparel Interdisciplinary Research and Education Look Like in the 21st Century?

The majority of the session was dedicated to discussing five key Grand Challenges that the Sedona Group had previously identified. The five Grand Challenges were: (a) environmental sustainability (climate change, preservation, resource utilization, etc.) led by Linda Welters; (b) social sustainability (Corporate social responsibility, community development, poverty, etc.) led by Dee Knight; (c) health and well-being (obesity, mental health, body image, quality of life, disruptive technology, etc.) led by Nancy Rudd; (d) shifts in demographics (aging, immigration, diversity, etc.) led by Andrew Reiley; and (e) inequality (in gender, ethnicity, education, wealth, etc.) led by Minjeong Kim. Karen LaBat and Jung Ha-Brookshire led the group discussion using Art of Hosting (or Art of Participatory Leadership) techniques

Econometric estimation of nested production functions and testing in a computable general equilibrium analysis of economy-wide rebound effects

Quantitative models, such as computable general equilibrium (CGE), that are increasingly used to inform policy processes rely on a number of assumptions concerning how good and services are produced. Previous research has shown that the elasticity of substitution between inputs and the structure in which these inputs interact can have large impacts on model output. However, the choice of elasticities and production structure is often made without the support of statistical evidence. This research aims to address these points by estimating nesting structure and the elasticities of substitution therein across a number of sectors in the UK then testing the implications of introducing these estimates to parameterise a CGE model that is then used to simulation the economy-wide impacts of increased efficiency in the productive use of energy

Input-output analyses of the pollution content of intra- and inter-national trade flows

This paper considers the application of input-output accounting methods to consider the pollution implications of different production and consumption activities, with specific focus on pollution embodied in intra-and inter-national trade flows. We consider the illustrative case studies of interregional trade flows between two regions of the UK and between five Mid-West regions/states within the US. We focus on different types of air pollutant of current policy concern in each case and demonstrate how use of the environmental input-output framework allows us to analyse the nature and significance of interregional pollution spillovers. Our results raise questions in terms of the extent to which authorities at regional level can control local emissions where they are limited in the way some emissions can be controlled, particularly with respect to changes in demand elsewhere within the national economy. This implies a need for policy co-ordination between national and regional level authorities to meet emissions reductions targets. Moreover, the existence of pollution trade balances between regions also raises issues in terms of net losses/gains in terms of pollutants as a result of interregional trade. In conducting analyses for different types of air pollutant (here CO2 as a global warming gas, GHG, in the UK case and ammonia, NH3, as a pollutant of more local concern in the US case) we also consider how pollution embodied in international trade flows may be accounted for and attributed

Model Order Reduction for Determining Bubble Parameters to Attain a Desired Fluid Surface Shape

In this paper, a new methodology for predicting fluid free surface shape using Model Order Reduction (MOR) is presented. Proper Orthogonal Decomposition combined with a linear interpolation procedure for its coefficient is applied to a problem involving bubble dynamics near to a free surface. A model is developed to accurately and efficiently capture the variation of the free surface shape with different bubble parameters. In addition, a systematic approach is developed within the MOR framework to find the best initial locations and pressures for a set of bubbles beneath the quiescent free surface such that the resultant free surface attained is close to a desired shape. Predictions of the free surface in two-dimensions and three-dimensions are presented.Singapore-MIT Alliance (SMA