Pay Attention to How You Drive: Safe and Adaptive Model-Based Reinforcement Learning for Off-Road Driving

Autonomous off-road driving is challenging as risky actions taken by the robot may lead to catastrophic damage. As such, developing controllers in simulation is often desirable as it provides a safer and more economical alternative. However, accurately modeling robot dynamics is difficult due to the complex robot dynamics and terrain interactions in unstructured environments. Domain randomization addresses this problem by randomizing simulation dynamics parameters, however this approach sacrifices performance for robustness leading to policies that are sub-optimal for any target dynamics. We introduce a novel model-based reinforcement learning approach that aims to balance robustness with adaptability. Our approach trains a System Identification Transformer (SIT) and an Adaptive Dynamics Model (ADM) under a variety of simulated dynamics. The SIT uses attention mechanisms to distill state-transition observations from the target system into a context vector, which provides an abstraction for its target dynamics. Conditioned on this, the ADM probabilistically models the system's dynamics. Online, we use a Risk-Aware Model Predictive Path Integral controller (MPPI) to safely control the robot under its current understanding of the dynamics. We demonstrate in simulation as well as in multiple real-world environments that this approach enables safer behaviors upon initialization and becomes less conservative (i.e. faster) as its understanding of the target system dynamics improves with more observations. In particular, our approach results in an approximately 41% improvement in lap-time over the non-adaptive baseline while remaining safe across different environments

POWERLIB: SAS/IML Software for Computing Power in Multivariate Linear Models

The POWERLIB SAS/IML software provides convenient power calculations for a wide range of multivariate linear models with Gaussian errors. The software includes the Box, Geisser-Greenhouse, Huynh-Feldt, and uncorrected tests in the "univariate" approach to repeated measures (UNIREP), the Hotelling Lawley Trace, Pillai-Bartlett Trace, and Wilks Lambda tests in "multivariate" approach (MULTIREP), as well as a limited but useful range of mixed models. The familiar univariate linear model with Gaussian errors is an important special case. For estimated covariance, the software provides confidence limits for the resulting estimated power. All power and confidence limits values can be output to a SAS dataset, which can be used to easily produce plots and tables for manuscripts.

Structure of Frequency-Interacting RNA Helicase from \u3ci\u3eNeurospora crassa\u3c/i\u3e Reveals High Flexibility in a Domain Critical for Circadian Rhythm and RNA Surveillance

The FRH (frequency-interacting RNA helicase) protein is the Neurospora crassa homolog of yeast Mtr4, an essential RNA helicase that plays a central role in RNA metabolism as an activator of the nuclear RNA exosome. FRH is also a required component of the circadian clock, mediating protein interactions that result in the rhythmic repression of gene expression. Here we show that FRH unwinds RNA substrates in vitro with a kinetic profile similar to Mtr4, indicating that while FRH has acquired additional functionality, its core helicase function remains intact. In contrast with the earlier FRH structures, a new crystal form of FRH results in an ATP binding site that is undisturbed by crystal contacts and adopts a conformation consistent with nucleotide binding and hydrolysis. Strikingly, this new FRH structure adopts an arch domain conformation that is dramatically altered from previous structures. Comparison of the existing FRH structures reveals conserved hinge points that appear to facilitate arch motion. Regions in the arch have been previously shown to mediate a variety of protein-protein interactions critical for RNA surveillance and circadian clock functions. The conformational changes highlighted in the FRH structures provide a platform for investigating the relationship between arch dynamics and Mtr4/FRH function

Are energy drinks unique mixers in terms of their effects on alcohol consumption and negative alcohol-related consequences?

© 2018 Johnson et al. Introduction: Previous research has suggested that consuming alcohol mixed with energy drinks (AMED) increases overall alcohol consumption. However, there is limited research examining whether energy drinks are unique in their effects when mixed with alcohol, when compared with alcohol mixed with other caffeinated mixers (AOCM). Therefore, the aim of this survey was to investigate alcohol consumption on AMED occasions, to that on other occasions when the same individuals consumed AOCM or alcohol only (AO). Methods: A UK-wide online student survey collected data on the frequency of alcohol consumption and quantity consumed, as well as the number of negative alcohol-related consequences reported on AO, AMED and AOCM occasions (N=250). Results: Within-subjects analysis revealed that there were no significant differences in the number of alcoholic drinks consumed on a standard and a heavy drinking session between AMED and AOCM drinking occasions. However, the number of standard mixers typically consumed was significantly lower on AMED occasions compared with AOCM occasions. In addition, when consuming AMED, students reported significantly fewer days consuming 5 or more alcohol drinks, fewer days mixing drinks, and fewer days being drunk, compared with when consuming AOCM. There were no significant differences in the number of reported negative alcohol-related consequences on AMED occasions to AOCM occasions. Of importance, alcohol consumption and negative alcohol-related consequences were significantly less on both AMED and AOCM occasions compared with AO occasions. Conclusion: The findings that heavy alcohol consumption occurs significantly less often on AMED occasions compared with AOCM occasions is in opposition to some earlier claims implying that greatest alcohol consumption occurs with AMED. The overall greatest alcohol consumption and associated negative consequences were clearly associated with AO occasions. Negative consequences for AMED and AOCM drinking occasions were similar, suggesting that energy drink was comparable with AOCM in this regard

2015 ASME Design Competition - Group III Final Report

The 2015 ASME Challenge was to construct a device which manufactures a projectile from a piece of copy paper then launches it as far as possible. At the competition, each team has five minutes to assemble their machine, craft three projectiles and fire them for a cumulative distance. In addition to launching paper projectiles as far as possible, the machines must also be designed to take up as little space as possible while still performing its main function effectively. A team’s final score is the ratio of the cumulative distance of all three projectiles to the volume of a box used to transport their machine

Age Composition and Distribution of Red Drum (Sciaenops ocellatus) in Offshore Waters of the North Central Gulf of Mexico: An Evaluation of a Stock Under a Federal Harvest Moratorium

Because of a lack of fishery- dependent data, assessment of the recovery of fish stocks that undergo the most aggressive form of management, namely harvest moratoriums, remains a challenge. Large schools of red drum (Sclaenops ocellatus) were common along the northern Gulf of Mexico until the late 1980s when increased fishing effort quickly depleted the stock. After 24 years of harvest moratorium on red drum in federal waters, the stock is in need of reassessment; however, fishery dependent data are not available in federal waters and fishery-independent data are limited. We document the distribution, age composition, growth, and condition of red drum in coastal waters of the north central Gulf of Mexico, using data collected from a nearshore, randomized, bottom longline survey. Age composition of the fishery-independent catch indicates low mortality offish age 6 and above and confirms the effectiveness of the federal fishing moratorium. Bottom longline surveys may be a cost-effective method for developing fishery-independent indices for red drum provided additional effort can be added to nearshore waters (\u3c20 m depth). As with most stocks under harvest bans, effective monitoring of the recovery of red drum will require the development of fishery-independent indices. With limited economic incentive to evaluate non-exploited stocks, the most cost-effective approach to developing such monitoring is expansion of existing fishery independent surveys. We examine this possibility for red drum in the Gulf of Mexico and recommend the bottom longline survey conducted by the National Marine Fisheries Service expand effort in nearshore areas to allow for the development of long-term abundance indices for red drum

Civic and Political Leadership Education

Unique in its demands as a system of governance, democracy requires active citizen leadership to be successful. Citizen leadership, in turn, requires engagement based on knowledge and action. Therefore, civic and political education is essential to the success of any democracy. This article discusses a model of applied political and civic leadership education that is based in theory, yet practical to the lives of young people. Surveys of past participants demonstrate that after the program, participants are more confident that they have the skills to become involved in politics and in community life