A Recursive Algorithm for Computing Inferences in Imprecise Markov Chains

We present an algorithm that can efficiently compute a broad class of inferences for discrete-time imprecise Markov chains, a generalised type of Markov chains that allows one to take into account partially specified probabilities and other types of model uncertainty. The class of inferences that we consider contains, as special cases, tight lower and upper bounds on expected hitting times, on hitting probabilities and on expectations of functions that are a sum or product of simpler ones. Our algorithm exploits the specific structure that is inherent in all these inferences: they admit a general recursive decomposition. This allows us to achieve a computational complexity that scales linearly in the number of time points on which the inference depends, instead of the exponential scaling that is typical for a naive approach

Parametric motion control of robotic arms: A biologically based approach using neural networks

A neural network based system is presented which is able to generate point-to-point movements of robotic manipulators. The foundation of this approach is the use of prototypical control torque signals which are defined by a set of parameters. The parameter set is used for scaling and shaping of these prototypical torque signals to effect a desired outcome of the system. This approach is based on neurophysiological findings that the central nervous system stores generalized cognitive representations of movements called synergies, schemas, or motor programs. It has been proposed that these motor programs may be stored as torque-time functions in central pattern generators which can be scaled with appropriate time and magnitude parameters. The central pattern generators use these parameters to generate stereotypical torque-time profiles, which are then sent to the joint actuators. Hence, only a small number of parameters need to be determined for each point-to-point movement instead of the entire torque-time trajectory. This same principle is implemented for controlling the joint torques of robotic manipulators where a neural network is used to identify the relationship between the task requirements and the torque parameters. Movements are specified by the initial robot position in joint coordinates and the desired final end-effector position in Cartesian coordinates. This information is provided to the neural network which calculates six torque parameters for a two-link system. The prototypical torque profiles (one per joint) are then scaled by those parameters. After appropriate training of the network, our parametric control design allowed the reproduction of a trained set of movements with relatively high accuracy, and the production of previously untrained movements with comparable accuracy. We conclude that our approach was successful in discriminating between trained movements and in generalizing to untrained movements

Concurrent adaptation to opposing visual displacements during an alternating movement.

It has been suggested that, during tasks in which subjects are exposed to a visual rotation of cursor feedback, alternating bimanual adaptation to opposing rotations is as rapid as unimanual adaptation to a single rotation (Bock et al. in Exp Brain Res 162:513–519, 2005). However, that experiment did not test strict alternation of the limbs but short alternate blocks of trials. We have therefore tested adaptation under alternate left/right hand movement with opposing rotations. It was clear that the left and right hand, within the alternating conditions, learnt to adapt to the opposing displacements at a similar rate suggesting that two adaptive states were formed concurrently. We suggest that the separate limbs are used as contextual cues to switch between the relevant adaptive states. However, we found that during online correction the alternating conditions had a significantly slower rate of adaptation in comparison to the unimanual conditions. Control conditions indicate that the results are not directly due the alternation between limbs or to the constant switching of vision between the two eyes. The negative interference may originate from the requirement to dissociate the visual information of these two alternating displacements to allow online control of the two arms

Impact of anthropogenic ocean acidification on thermal tolerance of the spider crab <i>Hyas araneus</i>

Future scenarios for the oceans project combined developments of CO₂ accumulation and global warming and their impact on marine ecosystems. The synergistic impact of both factors was addressed by studying the effect of elevated CO₂ concentrations on thermal tolerance of the cold-eurythermal spider crab <i>Hyas araneus</i> from the population around Helgoland. Here ambient temperatures characterize the southernmost distribution limit of this species. Animals were exposed to present day normocapnia (380 ppm CO₂), CO₂ levels expected towards 2100 (710 ppm) and beyond (3000 ppm). Heart rate and haemolymph PO₂ (P_eO₂) were measured during progressive short term cooling from 10 to 0&deg;C and during warming from 10 to 25&deg;C. An increase of P_eO₂ occurred during cooling, the highest values being reached at 0&deg;C under all three CO₂ levels. Heart rate increased during warming until a critical temperature (<i>T_c</i>) was reached. The putative <i>T_c</i> under normocapnia was presumably &gt;25&deg;C, from where it fell to 23.5&deg;C under 710 ppm and then 21.1&deg;C under 3000 ppm. At the same time, thermal sensitivity, as seen in the <i>Q₁₀</i> values of heart rate, rose with increasing CO₂ concentration in the warmth. Our results suggest a narrowing of the thermal window of <i>Hyas araneus</i> under moderate increases in CO₂ levels by exacerbation of the heat or cold induced oxygen and capacity limitation of thermal tolerance

The distinction between gastric ulceration and carcinoma of the stomach : value of the erythrocyte sedimentation rate and the maximal acid output

CITATION: Bock, O. A. A. & Boyd, I. H. 1973. The distinction between gastric ulceration and carcinoma of the stomach : value of the erythrocyte sedimentation rate and the maximal acid output. South African Medical Journal, 47(29):1259-1260.The original publication is available at http://www.samj.org.zaThe erythrocyte sedimentation rate (ESR) is not a reliable criterion for distinguishing between gastric ulceration and carcinoma of the stomach. If the maximal acid output (MAO) = 0 mEq/h, the lesion is, with few exceptions, a carcinoma. Combining the ESR and MAO did not provide a more reliable criterion for distinguishing between gastric ulcer and carcinoma of the stomach, than when MAO alone is taken into consideration.Publisher’s versio

Phase center modeling for LEO GPS receiver antennas and its impact on precise orbit determination

Most satellites in a low-Earth orbit (LEO) with demanding requirements on precise orbit determination (POD) are equipped with on-board receivers to collect the observations from Global Navigation Satellite systems (GNSS), such as the Global Positioning System (GPS). Limiting factors for LEO POD are nowadays mainly encountered with the modeling of the carrier phase observations, where a precise knowledge of the phase center location of the GNSS antennas is a prerequisite for high-precision orbit analyses. Since 5 November 2006 (GPS week 1400), absolute instead of relative values for the phase center location of GNSS receiver and transmitter antennas are adopted in the processing standards of the International GNSS Service (IGS). The absolute phase center modeling is based on robot calibrations for a number of terrestrial receiver antennas, whereas compatible antenna models were subsequently derived for the remaining terrestrial receiver antennas by conversion (from relative corrections), and for the GNSS transmitter antennas by estimation. However, consistent receiver antenna models for space missions such as GRACE and TerraSAR-X, which are equipped with non-geodetic receiver antennas, are only available since a short time from robot calibrations. We use GPS data of the aforementioned LEOs of the year 2007 together with the absolute antenna modeling to assess the presently achieved accuracy from state-of-the-art reduced-dynamic LEO POD strategies for absolute and relative navigation. Near-field multipath and cross-talk with active GPS occultation antennas turn out to be important and significant sources for systematic carrier phase measurement errors that are encountered in the actual spacecraft environments. We assess different methodologies for the in-flight determination of empirical phase pattern corrections for LEO receiver antennas and discuss their impact on POD. By means of independent K-band measurements, we show that zero-difference GRACE orbits can be significantly improved from about 10 to 6mm K-band standard deviation when taking empirical phase corrections into account, and assess the impact of the corrections on precise baseline estimates and further applications such as gravity field recovery from kinematic LEO position

Thermal acclimation to 4 or 10°C imparts minimal benefit on swimming performance in Atlantic cod ( Gadus morhua L.)

Thermal acclimation is frequently cited as a means by which ectothermic animals improve their Darwinian fitness, i.e. the beneficial acclimation hypothesis. As the critical swimming speed (U crit) test is often used as a proxy measure of fitness, we acclimated Atlantic cod (Gadus morhua) to 4 and 10°C and then assessed their U crit swimming performance at their respective acclimation temperatures and during acute temperature reversal. Because phenotypic differences exist between different populations of cod, we undertook these experiments in two different populations, North Sea cod and North East Arctic cod. Acclimation to 4 or 10°C had a minimal effect on swimming performance or U crit, however test temperature did, with all groups having a 10-17% higher U crit at 10°C. The swimming efficiency was significantly lower in all groups at 4°C arguably due to the compression of the muscle fibre recruitment order. This also led to a reduction in the duration of "kick and glide” swimming at 4°C. No significant differences were seen between the two populations in any of the measured parameters, due possibly to the extended acclimation period. Our data indicate that acclimation imparts little benefit on U crit swimming test in Atlantic cod. Further efforts need to identify the functional consequences of the long-term thermal acclimation proces

Demonstration of a beam loaded nanocoulomb-class laser wakefield accelerator.

Laser-plasma wakefield accelerators have seen tremendous progress, now capable of producing quasi-monoenergetic electron beams in the GeV energy range with few-femtoseconds bunch duration. Scaling these accelerators to the nanocoulomb range would yield hundreds of kiloamperes peak current and stimulate the next generation of radiation sources covering high-field THz, high-brightness X-ray and γ-ray sources, compact free-electron lasers and laboratory-size beam-driven plasma accelerators. However, accelerators generating such currents operate in the beam loading regime where the accelerating field is strongly modified by the self-fields of the injected bunch, potentially deteriorating key beam parameters. Here we demonstrate that, if appropriately controlled, the beam loading effect can be employed to improve the accelerator's performance. Self-truncated ionization injection enables loading of unprecedented charges of ∼0.5 nC within a mono-energetic peak. As the energy balance is reached, we show that the accelerator operates at the theoretically predicted optimal loading condition and the final energy spread is minimized.Higher beam quality and stability are desired in laser-plasma accelerators for their applications in compact light sources. Here the authors demonstrate in laser plasma wakefield electron acceleration that the beam loading effect can be employed to improve beam quality by controlling the beam charge

Impact of ocean acidification on escape performance of the king scallop, Pecten maximus, from Norway

The ongoing process of ocean acidification already affects marine life, and according to the concept of oxygen and capacity limitation of thermal tolerance, these effects may be intensified at the borders of the thermal tolerance window. We studied the effects of elevated CO2 concentrations on clapping performance and energy metabolism of the commercially important scallop Pecten maximus. Individuals were exposed for at least 30 days to 4 °C (winter) or to 10 °C (spring/summer) at either ambient (0.04 kPa, normocapnia) or predicted future PCO2 levels (0.11 kPa, hypercapnia). Cold-exposed (4 °C) groups revealed thermal stress exacerbated by PCO2 indicated by a high mortality overall and its increase from 55 % under normocapnia to 90 % under hypercapnia. We therefore excluded the 4 °C groups from further experimentation. Scallops at 10 °C showed impaired clapping performance following hypercapnic exposure. Force production was significantly reduced although the number of claps was unchanged between normocapnia- and hypercapnia-exposed scallops. The difference between maximal and resting metabolic rate (aerobic scope) of the hypercapnic scallops was significantly reduced compared with normocapnic animals, indicating a reduction in net aerobic scope. Our data confirm that ocean acidification narrows the thermal tolerance range of scallops resulting in elevated vulnerability to temperature extremes and impairs the animal’s performance capacity with potentially detrimental consequences for its fitness and survival in the ocean of tomorrow