Developing Hierarchical Schemas and Building Schema Chains Through Practice Play Behavior

Examining the different stages of learning through play in humans during early life has been a topic of interest for various scholars. Play evolves from practice to symbolic and then later to play with rules. During practice play, infants go through a process of developing knowledge while they interact with the surrounding objects, facilitating the creation of new knowledge about objects and object related behaviors. Such knowledge is used to form schemas in which the manifestation of sensorimotor experiences is captured. Through subsequent play, certain schemas are further combined to generate chains able to achieve behaviors that require multiple steps. The chains of schemas demonstrate the formation of higher level actions in a hierarchical structure. In this work we present a schema-based play generator for artificial agents, termed Dev-PSchema. With the help of experiments in a simulated environment and with the iCub robot, we demonstrate the ability of our system to create schemas of sensorimotor experiences from playful interaction with the environment. We show the creation of schema chains consisting of a sequence of actions that allow an agent to autonomously perform complex tasks. In addition to demonstrating the ability to learn through playful behavior, we demonstrate the capability of Dev-PSchema to simulate different infants with different preferences toward novel vs. familiar objects

The globular cluster system of NGC 1316 : I. Wide-field photometry in the Washington system

Context. NGC 1316 (Fornax A) is a prominent merger remnant in the outskirts of the Fornax cluster. The bulge stellar population of NGC 1316 has a strong intermediate-age component. Studies of its globular cluster system may help to further refine its probably complex star formation history. Aims. The cluster system has not yet been studied in its entirety. We therefore present a wide-field study of the globular cluster system of NGC 1316, investigating its properties in relation to the global morphology of NGC 1316. Methods. We used the MOSAIC II camera at the 4-m Blanco telescope at CTIO in the filters Washington C and Harris R. We identified globular cluster candidates and studied their color distribution and the structural properties of the system. In an appendix, we also remark on the morphology, present color maps, and present new models for the brightness and color profiles of the galaxy. Results. The cluster system is well confined to the optically visible outer contours of NGC 1316. There are about 640 cluster candidates down to R = 24 mag. The color distribution of the entire sample is unimodal, but the color distribution of bright subsamples in the bulge shows two peaks that, compared with theoretical Washington colors with solar metallicity, correspond to ages of about 2 Gyr and 0.8 Gyr, respectively. We also find a significant population of clusters in the color range 0.8 < C-R < 1.1, which must be populated by clusters younger than 0.8 Gyr, unless they are very metal-poor. The color interval 1.3 < C-R < 1.6 hosts the bulk of intermediate-age clusters, which show a surface density profile with a sharp decline at about 4′. The outer cluster population shows an unimodal color distribution with a peak at C-R = 1.1, indicating a higher contribution of old, metal-poor clusters. However, their luminosity function does not show the expected turn-over, so the fraction of younger clusters is still significant. We find a pronounced concentration of blue cluster candidates in the area of Schweizer's L1-structure. Conclusions. Cluster formation in NGC 1316 has continued after an initial burst that is presumably related to the main merger. A toy model with two bursts of ages 2 Gyr and 0.8 Gyr is consistent with photometric properties and dynamical M/L-values. In this model, the older, metal-rich pre-merger population has an age of 7 Gyr, contributes 90% of the bulge mass and 70% of the luminosity. Its properties are consistent with spiral galaxies, where star-bursts were triggered by major/minor mergers and/or close encounters.Instituto de Astrofísica de La Plat

SN 2007uy - metamorphosis of an aspheric Type Ib explosion

The supernovae of Type Ibc are rare and the detailed characteristics of these explosions have been studied only for a few events. Unlike Type II SNe, the progenitors of Type Ibc have never been detected in pre-explosion images. So, to understand the nature of their progenitors and the characteristics of the explosions, investigation of proximate events are necessary. Here we present the results of multi-wavelength observations of Type Ib SN 2007uy in the nearby ($\sim$ 29.5 Mpc) galaxy NGC 2770. Analysis of the photometric observations revealed this explosion as an energetic event with peak absolute R band magnitude $-18.5\pm0.16$, which is about one mag brighter than the mean value ($-17.6\pm0.6$) derived for well observed Type Ibc events. The SN is highly extinguished, E(B-V) = 0.63$\pm$0.15 mag, mainly due to foreground material present in the host galaxy. From optical light curve modeling we determine that about 0.3 M$_{\odot}$ radioactive $^{56}$Ni is produced and roughly 4.4 M$_{\odot}$ material is ejected during this explosion with liberated energy $\sim 15\times10^{51}$ erg, indicating the event to be an energetic one. Through optical spectroscopy, we have noticed a clear aspheric evolution of several line forming regions, but no dependency of asymmetry is seen on the distribution of $^{56}$Ni inside the ejecta. The SN shock interaction with the circumburst material is clearly noticeable in radio follow-up, presenting a Synchrotron Self Absorption (SSA) dominated light curve with a contribution of Free Free Absorption (FFA) during the early phases. Assuming a WR star, with wind velocity \ga 10^3 {\rm km s}^{-1}, as a progenitor, we derive a lower limit to the mass loss rate inferred from the radio data as \dot{M} \ga 2.4\times10^{-5} M$_{\odot}$, yr$^{-1}$, which is consistent with the results obtained for other Type Ibc SNe bright at radio frequencies.Comment: 22 pages, 13 figures, accepted for publication in MNRA

Evaluation of the Accuracy of Astroskin as a Behavioral Health Self-Monitoring System for Spaceflight

In space, there is a need to monitor astronauts' vital signs and assess their readiness to perform specific tasks during a mission. Currently, NASA does not have the capability to noninvasively monitor crew for extended periods of time. The Canadian Space Agency is working with the Psychophysiology Lab at NASA ARC to determine if the Astroskin could be used as a solution to this problem. Astroskin, a commercially available garment with built-in biosensors, can be comfortably worn under clothing or a spacesuit and relay information to the crewman's own mobile device. Data can also be sent wirelessly to the on-board Exploration Medical System. To determine if Astroskin meets requirements for health monitoring, it must first be validated in spaceflight analog environments. In the current study Astroskin data will be compared to traditional biomedical instrument measures of electrocardiography (ECG), respiration rate, and systolic blood pressure. The data will be recorded during Autogenic Feedback Training Exercise (AFTE), which is a type of physiological self-regulation training designed for astronauts. The data will also be recorded during simulations of the Orion spacecraft re-entry. The results to date suggest that Astroskin is a suitable ambulatory monitoring system that allows astronauts to self-diagnose and self-regulate adverse autonomic nervous system responses to sustained exposure to microgravity of spaceflight

Discovering Schema-based Action Sequences through Play in Situated Humanoid Robots

Exercising sensorimotor and cognitive functions allows humans, including infants, to interact with the environment and objects within it. In particular, during everyday activities, infants continuously enrich their repertoire of actions, and by playing, they experimentally plan such actions in sequences to achieve desired goals. The latter, reflected as perceptual target states, are built on previously acquired experiences shaped by infants to predict their actions. Imitating this, in developmental robotics, we seek methods that allow autonomous embodied agents with no prior knowledge to acquire information about the environment. Like infants, robots that actively explore the surroundings and manipulate proximate objects are capable of learning. Their understanding of the environment develops through the discovery of actions and their association with the resulting perceptions in the world. We extend the development of Dev-PSchema, a schema-based, open-ended learning system, and examine the infant-like discovery process of new generalised skills while engaging with objects in free-play using an iCub robot. Our experiments demonstrate the capability of Dev-PSchema to utilise the newly discovered skills to solve user-defined goals beyond its past experiences. The robot can generate and evaluate sequences of interdependent high-level actions to form potential solutions and ultimately solve complex problems towards tool-use

The globular cluster system of NGC1316: III. Kinematic complexity

Defining photometric peculiar type Ia Supernovae The merger remnant NGC 1316 (Fornax A) is one of the most important objects regarding the investigation of and thus an important object to study merger-related processes. A recent photometric study used globular clusters in NGC 1316 to constrain its star formation history, but without the knowledge of individual radial velocities. The kinematical properties of the globular cluster system in comparison with the diffuse stellar light might reveal more insight into the formation of NGC 1316. Of particular interest is the dark matter content. Planetary nebulae in NGC 1316 indicate a massive dark halo, and globular cluster velocities provide independent evidence. We aim at measuring radial velocities of globular clusters in NGC 1316. We use these kinematical data to investigate the global structure of NGC 1316 and to constrain the dark matter content. We perform multi-object-spectroscopy with VLT/FORS2 and MXU. Out of 562 slits, we extract radial velocities for 177 globular clusters. Moreover, we measure radial velocities of the integrated galaxy light, using slits with a sufficiently bright ”sky”. To these data, we add 20 cluster velocities from Goudfrooij et al. 2001b. In an appendix, we identify new morphological features of NGC 1316 and its companion galaxy NGC 1317. The GC sample based on radial velocities confirms the colour peaks already found in our photometric study. The bright clusters, which probably have their origin in a 2 Gyr-old starburst and younger star formation events, avoid the systemic velocity. A Gaussian velocity distribution is found only for clusters fainter than about mR = 22 mag. The velocity distribution of clusters shows a pronounced peak at 1600 km/s. These clusters populate a wide area in the south-western region which we suspect to be a disk population. Globular clusters or subsamples of them do not show a clear rotation signal. This is different from the galaxy light, where rotation along the major axis is discernable out to 3 0 radius. The kinematic major axis of NGC 1316 is misaligned by about 10◦ with the photometric major axis, which might indicate a triaxial symmetry. A simple spherical model like that suggested by dynamical analyses of planetary nebulae reproduces also the velocity dispersions of the faint globular clusters. The central dark matter density of the present model resembles a giant elliptical galaxy. This contradicts population properties which indicate spiral galaxies as pre-merger components. MOND would provide a solution, but the kinematical complexity of NGC 1316 does not allow a really firm conclusion. However, NGC 1316 might anyway be a problem for a CDM scenario, if the high dark matter density in the inner region is confirmed in future studies.Fil: Richtler, T.. Universidad de Concepción; ChileFil: Hilker, M.. European Southern Observatory; AlemaniaFil: Kumar, B.. Aryabhatta Research Institute Of Observational Sciences; IndiaFil: Bassino, Lilia Patricia. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico la Plata. Instituto de Astrofísica de la Plata; Argentina. Universidad Nacional de la Plata. Facultad de Ciencias Astronómicas y Geofísicas; ArgentinaFil: Gomez, M.. Universidad Andres Bello; ChileFil: Dirsch, B.. Friedrich-Ebert Gymnasium; Alemani

Identification and functional validation of a unique set of drought induced genes preferentially expressed in response to gradual water stress in peanut

Peanut, found to be relatively drought tolerant crop, has been the choice of study to characterize the genes expressed under gradual water deficit stress. Nearly 700 genes were identified to be enriched in subtractive cDNA library from gradual process of drought stress adaptation. Further, expression of the drought inducible genes related to various signaling components and gene sets involved in protecting cellular function has been described based on dot blot experiments. Fifty genes (25 regulators and 25 functional related genes) selected based on dot blot experiments were tested for their stress responsiveness using northern blot analysis and confirmed their nature of differential regulation under different field capacity of drought stress treatments. ESTs generated from this subtracted cDNA library offered a rich source of stress-related genes including signaling components. Additional 50% uncharacterized sequences are noteworthy. Insights gained from this study would provide the foundation for further studies to understand the question of how peanut plants are able to adapt to naturally occurring harsh drought conditions. At present functional validation cannot be deemed in peanut, hence as a proof of concept seven orthologues of drought induced genes of peanut have been silenced in heterologous N. benthamiana system, using virus induced gene silencing method. These results point out the functional importance for HSP70 gene and key regulators such as Jumonji in drought stress response

GRB 060313: A New Paradigm for Short-Hard Bursts?

We report the simultaneous observations of the prompt emission in the gamma-ray and hard X-ray bands by the Swift-BAT and the KONUS-Wind instruments of the short-hard burst, GRB 060313. The observations reveal multiple peaks in both the gamma-ray and hard X-ray bands suggesting a highly variable outflow from the central explosion. We also describe the early-time observations of the X-ray and UV/Optical afterglows by the Swift XRT and UVOT instruments. The combination of the X-ray and UV/Optical observations provide the most comprehensive lightcurves to date of a short-hard burst at such an early epoch. The afterglows exhibit complex structure with different decay indices and flaring. This behavior can be explained by the combination of a structured jet, radiative loss of energy, and decreasing microphysics parameters occurring in a circum-burst medium with densities varying by a factor of approximately two on a length scale of 10^17 cm. These density variations are normally associated with the environment of a massive star and inhomogeneities in its windy medium. However, the mean density of the observed medium (n approximately 10^&#8722;4 cm^3) is much less than that expected for a massive star. Although the collapse of a massive star as the origin of GRB 060313 is unlikely, the merger of a compact binary also poses problems for explaining the behavior of this burst. Two possible suggestions for explaining this scenario are: some short bursts may arise from a mechanism that does not invoke the conventional compact binary model, or soft late-time central engine activity is producing UV/optical but no X-ray flaring.Comment: 28 pages, 6 figures. Accepted for publication in ApJ. Clarifications made and typos correcte

Responsible Innovation of Touchless Haptics: A Prospective Design Exploration in Social Interaction

The rapid development of touchless systems has introduced many innovations in social interaction scenarios in recent years. People now can interact with touchless systems in social applications that are aimed to be used in everyday situations in the future. This accelerated development makes us ask, what will the next generation of touchless systems be like? How can we responsibly develop new touchless technologies in the future? To answer the first question, we brought together 20 experts to ideate, speculate, and evaluate possible touchless applications for social interactions. A total of 48 ideas were generated from two consecutive workshops. Then, to answer the second question, we critically analyzed those ideas through a thematic analysis using a responsible innovation (RI) framework, and identified key ethical considerations to guide developers, practitioners when designing future touchless systems. We argue that the social scenarios described, and the RI framework proposed in this paper are a useful starting point for responsibly designing the next generation of touchless systems