Autonomous Exploration for 3D Map Learning

Abstract. Autonomous exploration is a frequently addressed problem in the ro-botics community. This paper presents an approach to mobile robot exploration that takes into account that the robot acts in the three-dimensional space. Our approach can build compact three-dimensional models autonomously and is able to deal with negative obstacles such as abysms. It applies a decision-theoretic framework which considers the uncertainty in the map to evaluate potential ac-tions. Thereby, it trades off the cost of executing an action with the expected information gain taking into account possible sensor measurements. We present experimental results obtained with a real robot and in simulation.

Trait emotional intelligence and problematic social media use among adults: the mediating role of social media use motives

There are many contributing factors to problematic social media use including personality differences, psychosocial factors, and specific use motivations. The present study (N = 444 emerging adults, 75% women) investigated the direct and indirect relationships between trait emotional intelligence and problematic social media use via social media use motives by testing a complex mediation model. Path analyses suggested that trait emotional intelligence was directly and indirectly associated with problematic social media use via two social media use motives: (i) expressing or presenting a more popular self, and (ii) passing time. Results of the present study indicate that trait emotional intelligence may have a role in the motives for using social media as well as the development and maintenance of problematic social media use. Moreover, future studies should focus mediator risk factors between trait emotional intelligence and problematic social media use

The V471A polymorphism in autophagy-related gene ATG7 modifies age at onset specifically in Italian Huntington disease patients

The cause of Huntington disease (HD) is a polyglutamine repeat expansion of more than 36 units in the huntingtin protein, which is inversely correlated with the age at onset of the disease. However, additional genetic factors are believed to modify the course and the age at onset of HD. Recently, we identified the V471A polymorphism in the autophagy-related gene ATG7, a key component of the autophagy pathway that plays an important role in HD pathogenesis, to be associated with the age at onset in a large group of European Huntington disease patients. To confirm this association in a second independent patient cohort, we analysed the ATG7 V471A polymorphism in additional 1,464 European HD patients of the “REGISTRY” cohort from the European Huntington Disease Network (EHDN). In the entire REGISTRY cohort we could not confirm a modifying effect of the ATG7 V471A polymorphism. However, analysing a modifying effect of ATG7 in these REGISTRY patients and in patients of our previous HD cohort according to their ethnic origin, we identified a significant effect of the ATG7 V471A polymorphism on the HD age at onset only in the Italian population (327 patients). In these Italian patients, the polymorphism is associated with a 6-years earlier disease onset and thus seems to have an aggravating effect. We could specify the role of ATG7 as a genetic modifier for HD particularly in the Italian population. This result affirms the modifying influence of the autophagic pathway on the course of HD, but also suggests population-specific modifying mechanisms in HD pathogenesis

Identification of genetic variants associated with Huntington's disease progression: a genome-wide association study

Background Huntington's disease is caused by a CAG repeat expansion in the huntingtin gene, HTT. Age at onset has been used as a quantitative phenotype in genetic analysis looking for Huntington's disease modifiers, but is hard to define and not always available. Therefore, we aimed to generate a novel measure of disease progression and to identify genetic markers associated with this progression measure. Methods We generated a progression score on the basis of principal component analysis of prospectively acquired longitudinal changes in motor, cognitive, and imaging measures in the 218 indivduals in the TRACK-HD cohort of Huntington's disease gene mutation carriers (data collected 2008–11). We generated a parallel progression score using data from 1773 previously genotyped participants from the European Huntington's Disease Network REGISTRY study of Huntington's disease mutation carriers (data collected 2003–13). We did a genome-wide association analyses in terms of progression for 216 TRACK-HD participants and 1773 REGISTRY participants, then a meta-analysis of these results was undertaken. Findings Longitudinal motor, cognitive, and imaging scores were correlated with each other in TRACK-HD participants, justifying use of a single, cross-domain measure of disease progression in both studies. The TRACK-HD and REGISTRY progression measures were correlated with each other (r=0·674), and with age at onset (TRACK-HD, r=0·315; REGISTRY, r=0·234). The meta-analysis of progression in TRACK-HD and REGISTRY gave a genome-wide significant signal (p=1·12 × 10−10) on chromosome 5 spanning three genes: MSH3, DHFR, and MTRNR2L2. The genes in this locus were associated with progression in TRACK-HD (MSH3 p=2·94 × 10−8 DHFR p=8·37 × 10−7 MTRNR2L2 p=2·15 × 10−9) and to a lesser extent in REGISTRY (MSH3 p=9·36 × 10−4 DHFR p=8·45 × 10−4 MTRNR2L2 p=1·20 × 10−3). The lead single nucleotide polymorphism (SNP) in TRACK-HD (rs557874766) was genome-wide significant in the meta-analysis (p=1·58 × 10−8), and encodes an aminoacid change (Pro67Ala) in MSH3. In TRACK-HD, each copy of the minor allele at this SNP was associated with a 0·4 units per year (95% CI 0·16–0·66) reduction in the rate of change of the Unified Huntington's Disease Rating Scale (UHDRS) Total Motor Score, and a reduction of 0·12 units per year (95% CI 0·06–0·18) in the rate of change of UHDRS Total Functional Capacity score. These associations remained significant after adjusting for age of onset. Interpretation The multidomain progression measure in TRACK-HD was associated with a functional variant that was genome-wide significant in our meta-analysis. The association in only 216 participants implies that the progression measure is a sensitive reflection of disease burden, that the effect size at this locus is large, or both. Knockout of Msh3 reduces somatic expansion in Huntington's disease mouse models, suggesting this mechanism as an area for future therapeutic investigation

Autonomous exploration: Driven by uncertainty

Passively accepting measurements of the world is not enough, as the data we obtain is always incomplete, and the inferences made from it uncertain to a degree which is often unacceptable. If we are to build machines that operate autonomously they will always be faced with this dilemma, and can only be successful if they play amuch more active role. This paper presents such a machine. It deliberately seeks out those parts of the world which maximize the delity of its internal representations, and keeps searching until those representations are acceptable. We call this paradigm autonomous exploration, and the machine an autonomous explorer. This paper has two major contributions. The rst is a theory that tells us how to explore, and which con rms the intuitive ideas we have put forward previously. The second is an implementation of that theory. In our laboratory we have constructed a working autonomous explorer and here for the rst time show it in action. The system is entirely bottom-up and does not depend on any a priori knowledge of the environment. To our knowledge it is the rst to have successfully closed the loop between gaze planning and th

Autonomous Exploration: Driven by Uncertainty

Passively accepting measurements of the world is not enough, as the data we obtain is always incomplete, and the inferences made from it uncertain to a degree which is often unacceptable. If we are to build machines that operate autonomously they will always be faced with this dilemma, and can only be successful if they play a much more active role. This paper presents such a machine. It deliberately seeks out those parts of the world which maximize the fidelity of its internal representations, and keeps searching until those representations are acceptable. We call this paradigm autonomous exploration, and the machine an autonomous explorer. This paper has two major contributions. The first is a theory that tells us how to explore, and which confirms the intuitive ideas we have put forward previously. The second is an implementation of that theory. In our laboratory we have constructed a working autonomous explorer and here for the first time can show it in action. The system is entire..