Adaptive cancelation of self-generated sensory signals in a whisking robot

Sensory signals are often caused by one's own active movements. This raises a problem of discriminating between self-generated sensory signals and signals generated by the external world. Such discrimination is of general importance for robotic systems, where operational robustness is dependent on the correct interpretation of sensory signals. Here, we investigate this problem in the context of a whiskered robot. The whisker sensory signal comprises two components: one due to contact with an object (externally generated) and another due to active movement of the whisker (self-generated). We propose a solution to this discrimination problem based on adaptive noise cancelation, where the robot learns to predict the sensory consequences of its own movements using an adaptive filter. The filter inputs (copy of motor commands) are transformed by Laguerre functions instead of the often-used tapped-delay line, which reduces model order and, therefore, computational complexity. Results from a contact-detection task demonstrate that false positives are significantly reduced using the proposed scheme

Children's development of structure in early mathematics

8 page(s

The evidence for automated grading in diabetic retinopathy screening

Peer reviewedPostprin

Is routine pathological examination required in South African children undergoing adenotonsillectomy?

Objective. We aimed to determine the incidence of abnormal pathological findings in the tonsils and/or adenoids of children undergoing tonsillectomy and/or adenoidectomy, and the incidence of tuberculosis of the tonsils and adenoids; suggest criteria to identify children at risk for adenotonsillar tuberculosis; and investigate the association between HIV and adenotonsillar abnormality, the cost-effectiveness of routine pathological examination of adenotonsillectomy specimens, and criteria to decide which specimens to send for histological examination. Methods. We undertook an 8-month prospective study on all children (≤12 years) undergoing consecutive tonsillectomy or adenotonsillectomy (T&A) at Red Cross War Memorial Children’s Hospital. Patients were assessed pre-operatively and tonsil sizes graded pre- and intra-operatively. Blood was taken for HIV testing, and all tonsils and adenoids were examined histologically. A cost-benefit analysis was done to determine the cost-effectiveness of adenotonsillectomy routine pathology. Results. A total of 344 tonsils were analysed from 172 children (102 boys, 70 girls); 1 patient had nasopharyngeal tuberculosis, and 1 lymphoma of the tonsils; 13 (7.6%) patients had clinically asymmetrically enlarged tonsils but no significant abnormal pathological finding. The average cost of detecting a clinically significant abnormality was R22 744 (R45 488 ÷ 2 abnormalities). Conclusions. The following criteria could improve cost-effectiveness of pathological examination of adenotonsillectomy specimens: positive tuberculosis contact at home, systemic symptoms of fever and weight loss, cervical lymphadenopathy >3 cm, suspicious nasopharyngeal appearance, HIV-positive patient, rapid tonsillar enlargement or significant tonsillar asymmetry. On our evidence, routine pathological investigation for South African children does not seem to be justified

The role of orienting in vibrissal touch sensing

Rodents, such as rats and mice, are strongly tactile animals who explore the environment with their long mobile facial whiskers, or macrovibrissae, and orient to explore objects further with their shorter, more densely packed, microvibrissae. Although whisker motion (whisking) has been extensively studied, less is known about how rodents orient their vibrissal system to investigate unexpected stimuli. We describe two studies that address this question. In the first we seek to characterize how adult rats orient toward unexpected macrovibrissal contacts with objects and examine the microvibrissal exploration behavior following such contacts. We show that rats orient to the nearest macrovibrissal contact on an unexpected object, progressively homing in on the nearest contact point on the object in each subsequent whisk. Following contact, rats “dab” against the object with their microvibrissae at an average rate of approximately 8 Hz, which suggests synchronization of microvibrissal dabbing with macrovibrissal motion, and an amplitude of 5 mm. In study two, we examine the role of orienting to tactile contacts in developing rat pups for maintaining aggregations (huddles). We show that young pups are able to orient to contacts with nearby conspecifics before their eyes open implying an important role for the macrovibrissae, which are present from birth, in maintaining contact with conspecifics. Overall, these data suggest that orienting to tactile cues, detected by the vibrissal system, plays a crucial role throughout the life of a rat

Measurement of the parity violating 6S-7S transition amplitude in cesium achieved within 2 \times 10^{-13} atomic-unit accuracy by stimulated-emission detection

We exploit the process of asymmetry amplification by stimulated emission which provides an original method for parity violation (PV) measurements in a highly forbidden atomic transition. The method involves measurements of a chiral, transient, optical gain of a cesium vapor on the 7S-6P_{3/2} transition, probed after it is excited by an intense, linearly polarized, collinear laser, tuned to resonance for one hyperfine line of the forbidden 6S-7S transition in a longitudinal electric field. We report here a 3.5 fold increase, of the one-second-measurement sensitivity, and subsequent reduction by a factor of 3.5 of the statistical accuracy compared with our previous result [J. Gu\'ena et al., Phys. Rev. Lett. 90, 143001 (2003)]. Decisive improvements to the set-up include an increased repetition rate, better extinction of the probe beam at the end of the probe pulse and, for the first time to our knowledge, the following: a polarization-tilt magnifier, quasi-suppression of beam reflections at the cell windows, and a Cs cell with electrically conductive windows. We also present real-time tests of systematic effects, consistency checks on the data, as well as a 1% accurate measurement of the electric field seen by the atoms, from atomic signals. PV measurements performed in seven different vapor cells agree within the statistical error. Our present result is compatible with the more precise Boulder result within our present relative statistical accuracy of 2.6%, corresponding to a 2 \times 10^{-13} atomic-unit uncertainty in E_1^{pv}. Theoretical motivations for further measurements are emphasized and we give a brief overview of a recent proposal that would allow the uncertainty to be reduced to the 0.1% level by creating conditions where asymmetry amplification is much greater.Comment: Article 21 pages, 6 figures, 3 tables Typos, addition of few comments and little more data (1 week) leading to a slight reduction of the error bar Accepted for publication in Phys.Rev.

Indian monsoon variability in response to orbital forcing during the late Pliocene

The Asian monsoon is a major component of the global climate system and can be divided into two subsystems, the Indian monsoon and the East Asian monsoon. Insights into monsoon behaviour and dynamics can be gained through studying past warm intervals in Earth's history. One such interval is the Pliocene epoch, specifically the mid-Piacenzian Warm Period (mPWP; 3.264–3.025 Ma). This time is characterised as a period of sustained warmth, with annual mean temperatures 2–3 °C higher than the pre-industrial era. Studies have examined the East Asian monsoon during the mPWP from both a geological data and climate modelling perspective. However, there has been little investigation into the behaviour of the Indian monsoon. Using a coupled atmosphere-ocean global climate model (HadCM3), the Indian summer monsoon response to orbital forcing during the mPWP is studied. Of the simulated interglacial events (Marine Isotope Stages KM5c, KM3, K1 and G17), MIS KM5c is the only one with a near-modern orbital forcing. This experiment is compared to a pre-industrial simulation to determine the nature of the mPWP Indian summer monsoon in the absence of a different pattern if insolation forcing. The monsoon at MIS KM5c, is simulated to be stronger than pre-industrial, with higher surface air temperatures and precipitation over land due to higher levels of CO2. MIS G17, K1, and KM3 represent interglacial events of similar magnitude with different insolation forcing than MIS KM5c. The Indian summer monsoon is simulated to be significantly stronger for the interglacials K1 and KM3, compared to KM5c. This is due to stronger precession forcing causing an increase in summer surface air temperature and precipitation. When combined with Pliocene geological boundary conditions, these results highlight the significant effect of orbital forcing on the strength of the Indian summer monsoon. The sensitivity of the Indian monsoon to orbital forcing has important implications for any parallels drawn between Pliocene and future monsoon behaviour