Achieving Corresponding Effects on Multiple Robotic Platforms: Imitating in Context Using Different Effect Metrics

Original paper can be found at: www.aisb.org.uk/publications/proceedings/aisb05/3_Imitation_Final.pdfOne of the fundamental problems in imitation is the correspondence problem, how to map between the actions, states and effects of the model and imitator agents, when the embodiment of the agents is dissimilar. In our approach, the matching is according to different metrics and granularity. This paper presents JABBERWOCKY, a system that uses captured data from a human demonstrator to generate appropriate action commands, addressing the correspondence problem in imitation. Towards a characterization of the space of effect metrics, we are exploring absolute/relative angle and displacement aspects and focus on the overall arrangement and trajectory of manipulated objects. Using as an example a captured demonstration from a human, the system produces a correspondence solution given a selection of effect metrics and starting from dissimilar initial object positions, producing action commands that are then executed by two imitator target platforms (in simulation) to successfully imitate

Patient preferences for adjuvant radiotherapy in early breast cancer are strongly influenced by treatment received through random assignment

Objective: TARGIT‐A randomised women with early breast cancer to receive external beam radiotherapy (EBRT) or intraoperative radiotherapy (TARGIT‐IORT). This study aimed to identify what extra risk of recurrence patients would accept for per‐ ceived benefits and risks of different radiotherapy treatments. Methods: Patient preferences were determined by self‐rated trade‐off question‐ naires in two studies: Stage (1) 209 TARGIT‐A participants (TARGIT‐IORT n = 108, EBRT n = 101); Stage (2) 123 non‐trial patients yet to receive radiotherapy (pre‐treat‐ ment group), with 85 also surveyed post‐radiotherapy. Patients traded‐off risks of local recurrence in preference selection between TARGIT‐IORT and EBRT. Results: TARGIT‐IORT patients were more accepting of IORT than EBRT patients with 60% accepting the highest increased risk presented (4%–6%) compared to 12% of EBRT patients, and 2% not accepting IORT at all compared to 43% of EBRT pa‐ tients. Pre‐treatment patients were more accepting of IORT than post‐treatment pa‐ tients with 23% accepting the highest increased risk presented compared to 15% of post‐treatment patients, and 15% not accepting IORT at all compared to 41% of pre‐ treatment patients. Conclusions: Breast cancer patients yet to receive radiotherapy accept a higher recurrence risk than the actual risk found in TARGIT‐A. Measured patient preferences are highly influenced by experience of treatment received. This finding challenges the validity of post‐treatment preference studies

Bayes-X: a Bayesian inference tool for the analysis of X-ray observations of galaxy clusters

We present the first public release of our Bayesian inference tool, Bayes-X, for the analysis of X-ray observations of galaxy clusters. We illustrate the use of Bayes-X by analysing a set of four simulated clusters at z=0.2-0.9 as they would be observed by a Chandra-like X-ray observatory. In both the simulations and the analysis pipeline we assume that the dark matter density follows a spherically-symmetric Navarro, Frenk and White (NFW) profile and that the gas pressure is described by a generalised NFW (GNFW) profile. We then perform four sets of analyses. By numerically exploring the joint probability distribution of the cluster parameters given simulated Chandra-like data, we show that the model and analysis technique can robustly return the simulated cluster input quantities, constrain the cluster physical parameters and reveal the degeneracies among the model parameters and cluster physical parameters. We then analyse Chandra data on the nearby cluster, A262, and derive the cluster physical profiles. To illustrate the performance of the Bayesian model selection, we also carried out analyses assuming an Einasto profile for the matter density and calculated the Bayes factor. The results of the model selection analyses for the simulated data favour the NFW model as expected. However, we find that the Einasto profile is preferred in the analysis of A262. The Bayes-X software, which is implemented in Fortran 90, is available at http://www.mrao.cam.ac.uk/facilities/software/bayesx/.Comment: 22 pages, 11 figure

Annotating Synapses in Large EM Datasets

Reconstructing neuronal circuits at the level of synapses is a central problem in neuroscience and becoming a focus of the emerging field of connectomics. To date, electron microscopy (EM) is the most proven technique for identifying and quantifying synaptic connections. As advances in EM make acquiring larger datasets possible, subsequent manual synapse identification ({\em i.e.}, proofreading) for deciphering a connectome becomes a major time bottleneck. Here we introduce a large-scale, high-throughput, and semi-automated methodology to efficiently identify synapses. We successfully applied our methodology to the Drosophila medulla optic lobe, annotating many more synapses than previous connectome efforts. Our approaches are extensible and will make the often complicated process of synapse identification accessible to a wider-community of potential proofreaders

The IRAS 1-Jy Survey of Ultraluminous Infrared Galaxies: I. The sample and Luminosity Function

A complete flux-limited sample of 118 ultraluminous infrared galaxies (ULIGs) has been identified from the IRAS Faint Source Catalog (FSC). The selection criteria were a 60 micron flux density greater than 1 Jy in a region of the sky delta > -40 deg, |b| > 30 deg. All sources were subsequently reprocessed using coadded IRAS maps in order to obtain the best available flux estimates in all four IRAS wavelength bands. The maximum observed infrared luminosity is L_ir = 10^{12.90} L_{sun}, and the maximum redshift is z = 0.268. The luminosity function for ULIGs over the decade luminosity range L_ir = 10^{12} - 10^{13} L_{sun} can be approximated by a power law Phi (L) ~= L^{-2.35} Mpc^{-3} mag^{-1}. In the local Universe z < 0.1, the space density of ULIGs appears to be comparable to or slightly larger than that of optically selected QSOs at comparable bolometric luminosities. A maximum likelihood test suggests strong evolution for our sample; assuming density evolution proportional to (1+z)^{alpha} we find alpha = 7.6+/-3.2. Examination of the two-point correlation function shows a barely significant level of clustering, xi (r) = 1.6 +/- 1.2, on size scales r ~= 22 h^{-1} Mpc.Comment: 18 pages of text, 10 pages of figures 1 to 6, 6 pages of tables 1 to 3, ApJS accepte

Critical phenomena in a highly constrained classical spin system: Neel ordering from the Coulomb phase

Many classical, geometrically frustrated antiferromagnets have macroscopically degenerate ground states. In a class of three-dimensional systems, the set of degenerate ground states has power-law correlations and is an example of a Coulomb phase. We investigate Neel ordering from such a Coulomb phase, induced by weak additional interactions that lift the degeneracy. We show that the critical point belongs to a universality class that is different from the one for the equivalent transition out of the paramagnetic phase, and that it is characterised by effective long-range interactions; alternatively, ordering may be discontinuous. We suggest that a transition of this type may be realised by applying uniaxial stress to a pyrochlore antiferromagnet.Comment: 4 pages, 3 figure

Examining the potential public health benefit of offering STI testing to men in amateur football clubs: evidence from cross-sectional surveys

Background: In Britain, young people continue to bear the burden of sexually transmitted infections (STIs) so efforts are required, especially among men, to encourage STI testing. The SPORTSMART study trialled an intervention that sought to achieve this by offering chlamydia and gonorrhoea test-kits to men attending amateur football clubs between October and December 2012. With football the highest participation team sport among men in England, this paper examines the potential public health benefit of offering STI testing to men in this setting by assessing their sociodemographic characteristics, sexual behaviours, and healthcare behaviour and comparing them to men in the general population. Methods: Data were collected from 192 (male) members of 6 football clubs in London, United Kingdom, aged 18–44 years via a 20-item pen-and-paper self-completion questionnaire administered 2 weeks after the intervention. These were compared to data collected from 409 men of a similar age who were resident in London when interviewed during 2010–2012 for the third National Survey of Sexual Attitudes and Lifestyles (Natsal-3), a national probability survey that used computer-assisted-personal-interviewing with computer-assisted-self-interview. Age standardisation and multivariable regression were used to account for sociodemographic differences between the surveys. Results: Relative to men in the general population, SPORTSMART men were younger (32.8 % vs. 21.7 % aged under 25 y), and more likely to report (all past year) at least 2 sexual partners (adjusted odds ratio, AOR: 3.25, 95 % CI: 2.15–4.92), concurrent partners (AOR: 2.05, 95 % CI: 1.39–3.02), and non-use of condoms (AOR: 2.17, 95 % CI: 1.39–3.41). No difference was observed in STI/HIV risk perception (AOR for reporting “not at all at risk” of STIs: 1.25, 95 % CI: 0.76–2.04; of HIV: AOR: 1.54, 95 % CI: 0.93–2.55), nor in reporting STI testing in the past year (AOR: 0.83, 95 % CI: 0.44–1.54), which was reported by only one in six men. Conclusions: Relative to young men in the general population, football club members who completed the SPORTSMART survey reported greater sexual risk behaviour but similar STI/HIV risk perception and STI testing history. Offering STI testing in amateur football clubs may therefore widen access to STI testing and health promotion messages for men at higher STI risk, which, given the minority currently testing and the popularity of football in England, should yield both individual and public health benefit

Post-Disaster Housing Reconstruction in Sri Lanka: What Methodology?

Research methodology is the procedural framework within which the research is conducted. This includes the overall approach to a problem that could be put into practice in a research process, from the theoretical underpinning to the collection and analysis of data. Choice of methodology depends on the primary drivers: topic to be researched and the specific research questions. Hence, methodological perspectives of managing stakeholder expectations of PDHR context are composed of research philosophies, research strategy, research design, and research techniques. This research belonged to social constructivism or interpretivism within a philosophical continuum. The nature of the study was more toward subjectivism where human behavior favored voluntary stance. Ontological, methodological, epistemological, and axiological positioning carried the characteristics of idealism, ideographic, anti-positivism, and value laden, respectively. Data collection comprises two phases, preliminary and secondary. Exploratory interviews with construction experts in the United Kingdom and Sri Lanka were carried out to refine the interview questions and identify the case studies. Case study interviews during the secondary phase took place in Sri Lanka. Data collected at the preliminary stage were used to assess the attributes of power, legitimacy/proximity, and urgency of stakeholders to the project using Stakeholder Circle™ software. Moreover, the data collected at secondary phase via case studies will be analyzed with NVivo 8. This article aims to discuss these methodological underpinnings in detail applied in a post-disaster housing reconstruction context in Sri Lanka