Solving Navigational Uncertainty Using Grid Cells on Robots

To successfully navigate their habitats, many mammals use a combination of two mechanisms, path integration and calibration using landmarks, which together enable them to estimate their location and orientation, or pose. In large natural environments, both these mechanisms are characterized by uncertainty: the path integration process is subject to the accumulation of error, while landmark calibration is limited by perceptual ambiguity. It remains unclear how animals form coherent spatial representations in the presence of such uncertainty. Navigation research using robots has determined that uncertainty can be effectively addressed by maintaining multiple probabilistic estimates of a robot's pose. Here we show how conjunctive grid cells in dorsocaudal medial entorhinal cortex (dMEC) may maintain multiple estimates of pose using a brain-based robot navigation system known as RatSLAM. Based both on rodent spatially-responsive cells and functional engineering principles, the cells at the core of the RatSLAM computational model have similar characteristics to rodent grid cells, which we demonstrate by replicating the seminal Moser experiments. We apply the RatSLAM model to a new experimental paradigm designed to examine the responses of a robot or animal in the presence of perceptual ambiguity. Our computational approach enables us to observe short-term population coding of multiple location hypotheses, a phenomenon which would not be easily observable in rodent recordings. We present behavioral and neural evidence demonstrating that the conjunctive grid cells maintain and propagate multiple estimates of pose, enabling the correct pose estimate to be resolved over time even without uniquely identifying cues. While recent research has focused on the grid-like firing characteristics, accuracy and representational capacity of grid cells, our results identify a possible critical and unique role for conjunctive grid cells in filtering sensory uncertainty. We anticipate our study to be a starting point for animal experiments that test navigation in perceptually ambiguous environments

Rotation and activity in the solar-metallicity open cluster NGC2516

We report new measures of radial velocities and rotation rates (v sin i) for 51 F and early-G stars in the open cluster NGC2516, and combine these with previously published data. From high signal-to-noise spectra of two stars, we show that NGC2516 has a relative iron abundance with respect to the Pleiades of delta([Fe/H])= +0.04 +/- 0.07 at the canonical reddening of E(B - V) = 0.12, in contrast to previous photometric studies that placed the cluster 0.2 to 0.4 dex below solar. We construct a color-magnitude diagram based on radial velocity members, and explore the sensitivity of photometric determinations of the metallicity and distance to assumed values of the reddening. For a metal abundance near solar, the Hipparcos distance to NGC2516 is probably underestimated. Finally, we show that the distribution of rotation rates and X-ray emission does not differ greatly from that of the Pleiades, when allowance is made for the somewhat older age of NGC2516.Comment: Accepted for publication in the Astrophysical Journal. 35 pages including 7 figure

A qualitative evaluation of volunteers' experiences in a phase I/II HIV vaccine trial in Tanzania

Evaluating experiences of volunteers in an HIV vaccine trial will be useful for the conduct of future trials. The purpose of this study among volunteers who participated in a phase I/II HIV vaccine trial in Dar es Salaam, Tanzania was to assess what characterized their experiences during the trial. We conducted four focus group discussions with 35 out of the 60 individuals (women and men) after the five scheduled vaccinations. An interpretive description approach was applied to data analysis. As a result of the trial interventions, both men and women gained confidence in their own abilities to have safer, less risky sexual behaviour. The participants experienced the trial as a way of accessing free [insured] medical services. Most of the men said they had gone from self-medication to professional medical consultation. Despite these benefits, the participants faced various challenges during the trial. Such challenges included mistrust of the trial shown by health care providers who were not connected to the trial and discouragement from friends, colleagues and family members who questioned the safety of the trial. However, they managed to cope with these doubts by using both personal and trial related interventions. We found that during the phase I/II HIV vaccine trial, participants had both the opportunities and the ability to cope with the doubts from the surrounding community. Follow up visits enhanced the opportunities and individuals' abilities to cope with the doubts during the trial. Understanding this discourse may be useful for the trial implementers when designing future trials.\ud \ud \ud \u

Sixty Years of Modern Human Origins in the American Anthropological Association

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/65197/1/aa.2003.105.1.89.pd

Negotiating sacred roles:a sociological exploration of priests who are mothers

In 1992, in a historic move, the Church of England voted to allow women's ordination to priesthood and in 1994 the first women priests started to be ordained. Despite much research interest, the experiences of priests who are mothers to dependent children have been minimally investigated. Based on in-depth interviews with seventeen mothers ordained in the Church, this paper will focus on how the sacred-profane boundary is managed. Priests who are mothers have a particular insight into the Church hierarchy as they symbolically straddle the competing discourses of sacred and profane. However, instead of reifying these binaries, the experiences of these women show how such dualisms are challenged and managed in everyday life. Indeed, in terms of experience, ritual, ministry and preaching, priests who are mothers are resisting, recasting and renegotiating sacred terrain in subtle and nuanced ways. Mothers thus not only negotiate the practical and sacramental demands placed on priests, but also illuminate how the sacred domain is regulated and constructed

VPR-Bench: An Open-Source Visual Place Recognition Evaluation Framework with Quantifiable Viewpoint and Appearance Change

Visual place recognition (VPR) is the process of recognising a previously visited place using visual information, often under varying appearance conditions and viewpoint changes and with computational constraints. VPR is related to the concepts of localisation, loop closure, image retrieval and is a critical component of many autonomous navigation systems ranging from autonomous vehicles to drones and computer vision systems. While the concept of place recognition has been around for many years, VPR research has grown rapidly as a field over the past decade due to improving camera hardware and its potential for deep learning-based techniques, and has become a widely studied topic in both the computer vision and robotics communities. This growth however has led to fragmentation and a lack of standardisation in the field, especially concerning performance evaluation. Moreover, the notion of viewpoint and illumination invariance of VPR techniques has largely been assessed qualitatively and hence ambiguously in the past. In this paper, we address these gaps through a new comprehensive open-source framework for assessing the performance of VPR techniques, dubbed “VPR-Bench”. VPR-Bench (Open-sourced at: https://github.com/MubarizZaffar/VPR-Bench) introduces two much-needed capabilities for VPR researchers: firstly, it contains a benchmark of 12 fully-integrated datasets and 10 VPR techniques, and secondly, it integrates a comprehensive variation-quantified dataset for quantifying viewpoint and illumination invariance. We apply and analyse popular evaluation metrics for VPR from both the computer vision and robotics communities, and discuss how these different metrics complement and/or replace each other, depending upon the underlying applications and system requirements. Our analysis reveals that no universal SOTA VPR technique exists, since: (a) state-of-the-art (SOTA) performance is achieved by 8 out of the 10 techniques on at least one dataset, (b) SOTA technique in one community does not necessarily yield SOTA performance in the other given the differences in datasets and metrics. Furthermore, we identify key open challenges since: (c) all 10 techniques suffer greatly in perceptually-aliased and less-structured environments, (d) all techniques suffer from viewpoint variance where lateral change has less effect than 3D change, and (e) directional illumination change has more adverse effects on matching confidence than uniform illumination change. We also present detailed meta-analyses regarding the roles of varying ground-truths, platforms, application requirements and technique parameters. Finally, VPR-Bench provides a unified implementation to deploy these VPR techniques, metrics and datasets, and is extensible through templates

Life Cycle Management of Infrastructures

By definition, life cycle management (LCM) is a framework “of concepts, techniques, and procedures to address environmental, economic, technological, and social aspects of products and organizations in order to achieve continuous ‘sustainable’ improvement from a life cycle perspective” (Hunkeler et al.\ua02001). Thus, LCM theoretically integrates all sustainability dimensions, and strives to provide a holistic perspective. It also assists in the efficient and effective use of constrained natural and financial resources to reduce negative impacts on society (Sonnemann and Leeuw\ua02006; Adibi et al.\ua02015). The LCM of infrastructures is the adaptation of product life cycle management (PLM) as techniques to the design, construction, and management of infrastructures. Infrastructure life cycle management requires accurate and extensive information that might be generated through different kinds of intelligent and connected information workflows, such as building information modeling (BIM)

Sensitization in Transplantation: Assessment of Risk (STAR) 2017 Working Group Meeting Report

Peer Reviewedhttps://deepblue.lib.umich.edu/bitstream/2027.42/144684/1/ajt14752_am.pdfhttps://deepblue.lib.umich.edu/bitstream/2027.42/144684/2/ajt14752.pd