Probabilistic movement modeling for intention inference in human-robot interaction.

Intention inference can be an essential step toward efficient humanrobot interaction. For this purpose, we propose the Intention-Driven Dynamics Model (IDDM) to probabilistically model the generative process of movements that are directed by the intention. The IDDM allows to infer the intention from observed movements using Bayes ’ theorem. The IDDM simultaneously finds a latent state representation of noisy and highdimensional observations, and models the intention-driven dynamics in the latent states. As most robotics applications are subject to real-time constraints, we develop an efficient online algorithm that allows for real-time intention inference. Two human-robot interaction scenarios, i.e., target prediction for robot table tennis and action recognition for interactive humanoid robots, are used to evaluate the performance of our inference algorithm. In both intention inference tasks, the proposed algorithm achieves substantial improvements over support vector machines and Gaussian processes.

Alternative Oxidase Expression in the Mouse Enables Bypassing Cytochrome c Oxidase Blockade and Limits Mitochondrial ROS Overproduction

Peer reviewe

Reviews and syntheses: Abrupt ocean biogeochemical change under human-made climatic forcing – warming, acidification, and deoxygenation

Abrupt changes in ocean biogeochemical variables occur as a result of human-induced climate forcing as well as those which are more gradual and occur over longer timescales. These abrupt changes have not yet been identified and quantified to the same extent as the more gradual ones. We review and synthesise abrupt changes in ocean biogeochemistry under human-induced climatic forcing. We specifically address the ocean carbon and oxygen cycles because the related processes of acidification and deoxygenation provide important ecosystem hazards. Since biogeochemical cycles depend also on the physical environment, we also describe the relevant changes in warming, circulation, and sea ice. We include an overview of the reversibility or irreversibility of abrupt marine biogeochemical changes. Important implications of abrupt biogeochemical changes for ecosystems are also discussed. We conclude that there is evidence for increasing occurrence and extent of abrupt changes in ocean biogeochemistry as a consequence of rising greenhouse gas emissions

Description de deux nouvelles esp\ue8ces de Brookesia (Reptilia, Squamata, Chamaeleonidae) : B. legendrei et B. bonsi

Volume: 1Start Page: 685End Page: 69

Contribution \ue0 la connaissance des Chamaeleonidae malgaches (Reptilia, Squamata). II. Donn\ue9es nouvelles sur Chamaeleo minor A. G\ufcnther, 1879 Statut de C. willsii petteri E.-R. Brygoo et Ch.-A. Domergue, 1966 Etude des h\ue9mip\ue9nis et de la r\ue9partition g\ue9ographique du groupe bifidus

Volume: 510Start Page: 91End Page: 10

Geographies of shit: spatial and temporal variations in attitudes towards human waste

Taboos surrounding human waste have resulted in a lack of attention to spatial inequalities in access to sanitation and the consequences of this for human, environmental and economic health. This paper explores spaces where urgent environmental health imperatives intersect with deeply entrenched cultural norms surrounding human waste and the barriers they create for the development of more appropriate excreta management systems. The primary focus is on the global South (particularly India), although literature on sanitation histories in Europe and its colonies is drawn upon to illustrate spatial and temporal differences in cultural attitudes towards excrement

Where and how the East Madagascar Current retroflection originates?

The East Madagascar Current (EMC) is one of the western boundary currents of the South Indian Ocean. As such, it plays an important role in the climate system by transporting water and heat towards the pole and recirculating to the large-scale Indian Ocean through retroflection modes of its southern extension. Five cruise datasets and remote sensing data from different sensors are used to identify three states of the southern extension of the East Madagascar Current (EMC): early retroflection, canonical retroflection and no retroflection. Retroflections occur 47% of the time. EMC strength regulates the retroflection state, although impinged mesoscale eddies also contribute to retroflection formation. Early retroflection is linked with EMC volume transport. Anticyclonic eddies drifting from the central Indian Ocean to the coast favour early retroflection formation, anticyclonic eddies near the southern tip of Madagascar promote the generation of canonical retroflection, and no retroflection appears to be associated with a lower eddy kinetic energy (EKE). Knowledge of the EMC retroflection state could help predict (1) coastal upwelling south of Madagascar, (2) the southeastern Madagascar phytoplankton bloom, and (3) the formation of the South Indian Ocean Counter Current (SICC). Plain Language Summary Using in situ and satellite observations, we show that the East Madagascar Current (EMC), a strong current flowing along the East Coast of Madagascar, often detaches from the coast before the southern tip of the island and goes directly into the Indian Ocean, the so-called EMC retroflection. The EMC retroflection is characterized by three well-defined forms: early retroflection, canonical retroflection, and no retroflection. The EMC Early Retroflection is an unusual abrupt return current straight to the Indian Ocean without reaching the detachment point, while the EMC Canonical Retroflection returns the mass flow in the vicinity of the southern tip of the island. No retroflection is characterized by the straight propagation of the flow towards the Agulhas Current. These three forms of retroflection are due to the strength of the EMC and the contribution of mesoscale eddies arriving from the Indian Ocean. Retroflections have implications for coastal upwelling strength, Southeast Madagascar phytoplankton bloom occurrences, and South Indian Ocean Counter Current (SICC) formation