Anticipation in Human-Robot Cooperation: A Recurrent Neural Network Approach for Multiple Action Sequences Prediction

Close human-robot cooperation is a key enabler for new developments in advanced manufacturing and assistive applications. Close cooperation require robots that can predict human actions and intent, and understand human non-verbal cues. Recent approaches based on neural networks have led to encouraging results in the human action prediction problem both in continuous and discrete spaces. Our approach extends the research in this direction. Our contributions are three-fold. First, we validate the use of gaze and body pose cues as a means of predicting human action through a feature selection method. Next, we address two shortcomings of existing literature: predicting multiple and variable-length action sequences. This is achieved by introducing an encoder-decoder recurrent neural network topology in the discrete action prediction problem. In addition, we theoretically demonstrate the importance of predicting multiple action sequences as a means of estimating the stochastic reward in a human robot cooperation scenario. Finally, we show the ability to effectively train the prediction model on a action prediction dataset, involving human motion data, and explore the influence of the model's parameters on its performance. Source code repository: https://github.com/pschydlo/ActionAnticipationComment: IEEE International Conference on Robotics and Automation (ICRA) 2018, Accepte

A Faint Star-Forming System Viewed Through the Lensing Cluster Abell 2218: First Light at z~5.6?

We discuss the physical nature of a remarkably faint pair of Lyman alpha-emitting images discovered close to the giant cD galaxy in the lensing cluster Abell 2218 (z=0.18) during a systematic survey for highly-magnified star-forming galaxies beyond z=5. A well-constrained mass model suggests the pair arises via a gravitationally-lensed source viewed at high magnification. Keck spectroscopy confirms the lensing hypothesis and implies the unlensed source is a very faint (I~30) compact (<150 pc) and isolated object at z=5.576 whose optical emission is substantially contained within the Lyman alpha emission line; no stellar continuum is detectable. The available data suggest the source is a promising candidate for an isolated ~10^6 solar mass system seen producing its first generation of stars close to the epoch of reionization.Comment: 11 pages, 3 figures, to appear in Ap J Lett, minor revision following referee's repor

Combining pot, atom and step economy (PASE) in organic synthesis. Synthesis of tetrahydropyran-4-ones

The combination of pot, atom and step economy (PASE) in the synthesis of organic molecules of medium complexity can lead to a significant 'greening' of a synthetic route. This is demonstrated by the synthesis of highly substituted tetrahydropyran-4-ones and is quantified by a series of recognised metrics, which demonstrate the efficiency of combining PASE over conventional synthetic strategies

Testing for optimal monetary policy via moment inequalities

The specification of an optimizing model of the monetary transmission mechanism requires selecting a policy regime, commonly commitment or discretion. In this paper we propose a new procedure for testing optimal monetary policy, relying on moment inequalities that nest commitment and discretion as two special cases. The approach is based on the derivation of bounds for in ation that are consistent with optimal policy under either policy regime. We derive testable implications that allow for specification tests and discrimination between the two alternative regimes. The proposed procedure is implemented to examine the conduct of monetary policy in the United States economy

QED and relativistic corrections in superheavy elements

In this paper we review the different relativistic and QED contributions to energies, ionic radii, transition probabilities and Land\'e $g$-factors in super-heavy elements, with the help of the MultiConfiguration Dirac-Fock method (MCDF). The effects of taking into account the Breit interaction to all orders by including it in the self-consistent field process are demonstrated. State of the art radiative corrections are included in the calculation and discussed. We also study the non-relativistic limit of MCDF calculation and find that the non-relativistic offset can be unexpectedly large.Comment: V3, May 31st, 200

Relativistic correlation correction to the binding energies of the ground configuration of Beryllium-like, Neon-like, Magnesium-like and Argon-like ions

Total electronic correlation correction to the binding energies of the isoelectronic series of Beryllium, Neon, Magnesium and Argon, are calculated in the framework of relativistic multiconfiguration Dirac-Fock method. Convergence of the correlation energies is studied as the active set of orbitals is increased. The Breit interaction is treated fully self-consistently. The final results can be used in the accurately determination of atomic masses from highly charged ions data obtained in Penning-trap experiments.Comment: version soumise 3/08/200

A method for reaching detection efficiencies necessary for optical loophole-free Bell experiments

A method for preparing a loophole-free four-photon Bell experiments which requires a detection efficiency of 67% is proposed. It enables realistic detection efficiencies of 75% at a visibility of 85%. Two type-II crystals each down convert one correlated photon pair and we entangle one photon from one pair with one photon from the other pair on a highly transparent beam splitter. The entanglement selects two other conjugate photons into a Bell state. Wide solid angles for the conjugate photons then enable us to collect close to 100% of them. The cases when both photon pairs come from only one of the two crystals are successfully taken into account. Hardy's equalities are discussed.Comment: RevTeX, 20 pages, 2figures, Author's URL http://m3k.grad.hr/pavici

La psicología naturalizada como herramienta neurofilosófica y neuroepistemológica para el estudio del vínculo entre la mente y el cerebro. El ejemplo de las neurociencias y la filosofía oriental

El presente trabajo intenta dar cuenta de una posible herramienta para estudiar el vín­culo entre la mente y el cerebro, tomando como puentes vinculantes a la meditación y sus efectos en el sistema nervioso. Dichos puentes son posibles de ser tendidos a través de la naturalización de los procesos psicológicos vinculándolos a diferentes procesos biológicos. El objetivo del trabajo no pretende ser obturar los procesos psicológicos a través de la simplificación y reduccionismo de los mismos, ni biologizar la psicología. Sino, a través del vínculo, acceder a las consecuencias implícitas entre varios y diferentes procesos psi­cológicos y el organismo de forma dialéctica, tomando a los procesos naturalizantes como herramienta para ello. Siendo más fácil de visualizar dicha relación desde la perspectiva emergentista del vínculo mente-cerebro. De la mano de lo anterior, en los últimos años se han iniciado diferentes líneas de investigación en las cuales se ha tomado a la meditación como paradigma, con el fin de observar los efectos del mundo de las ideas en el sistema nervioso. Así, intentando analizar los diferentes efectos de las distintas meditaciones se ha podido llegar a algunas conclusiones parciales sobre el vínculo entre la mente y el cerebro. De esta manera, la naturalización, a través del estudio de la subjetividad sobre lo orgánico, nos permite interpretar dicho vínculo obteniendo información sobre la relación entre la mente y el cerebro, y con ello habilitar análisis epistémicos y filosóficos sobre la percepción y construcción de la realidad interna. En este trabajo se intentará dar cuenta del marco filosófico naturalista y de la visión emergentista de la mente para, a través de estos preceptos, abordar y dar cuenta de los des­cubrimientos realizados sobre los efectos de diferentes meditaciones en el sistema nervioso y sus posibles implicancias epistémicas, filosóficas y psicológicas.The present work aims to test for a potential tool in the study of the link between mind and brain, taking as possible bridges meditation and its effects on the nervous system. These bridges can be routed through the naturalization of psychological pro­cesses, relating them to different biological processes. The purpose is to contribute to the study of the consequences of several different psychological processes in the body in a dialectic way. Taking naturalized processes as a tool, sealing the psychological processes through simplification and reductionism, or biologizing psychology are avoided. Alternatively, the study of this relationship from the emerging perspective of mind-brain interactions was addressed. In recent years, a great amount of research has been done on meditation as a paradigm to observe the effects of subjetive processes on the nervous system. In this sense, the analysis of the biological effects of different meditations would aid to arrive to some conclusions about the link between mind and brain. In this sense the naturalization of the effects of subjectivity on the organism through meditation would allow to obtain more information about this relationship, and building this way an epistemic, psychological and philosophical analysis of per­ception and construction of internal reality

From multicultural to intercultural - urban to rural higher education institution setting in Southern and central Ontario (Canada) for international students

The present research is an integral and final part of my Master’s degree in Didactics of English Language Teaching. The focus of this study was to see the intercultural competence of ESL instructors teaching at public post-secondary institutions in the metropolitan area of Toronto (Canada), and outside of the metropolitan area within a 75km – 200km radius. A qualitative and quantitative data collection was performed by methods of a questionnaire. This was delivered to a total of 50 ESL instructors, 25 in each area: urban and rural. The questionnaire was divided into 3 sections: educational background, international travel experience, teaching background/ experience. The study demonstrated that the instructors from the urban area had a higher intercultural awareness level in comparison with their colleagues from the rural surrounding area. Instructors from the urban area had more exposure to an international environment, or had taken educational programs overseas. Their counterparts had less international exposure, and predominately majority with domestic education only. Conclusion was reached that in part this intercultural difference was also due to a lower intercultural awareness preparation or onboarding by the institutions and/or the lack of intercultural competence curriculum in teacher training programs