Hi-Val: Iterative Learning of Hierarchical Value Functions for Policy Generation

Task decomposition is effective in manifold applications where the global complexity of a problem makes planning and decision-making too demanding. This is true, for example, in high-dimensional robotics domains, where (1) unpredictabilities and modeling limitations typically prevent the manual specification of robust behaviors, and (2) learning an action policy is challenging due to the curse of dimensionality. In this work, we borrow the concept of Hierarchical Task Networks (HTNs) to decompose the learning procedure, and we exploit Upper Confidence Tree (UCT) search to introduce HOP, a novel iterative algorithm for hierarchical optimistic planning with learned value functions. To obtain better generalization and generate policies, HOP simultaneously learns and uses action values. These are used to formalize constraints within the search space and to reduce the dimensionality of the problem. We evaluate our algorithm both on a fetching task using a simulated 7-DOF KUKA light weight arm and, on a pick and delivery task with a Pioneer robot

Cathodoluminescence studies of phosphors in a scanning electron microscope

Cathodoluminescence studies are reported of phosphors in a field emission scanning electron microscope (FESEM). A number of phosphor materials have been studied and exhibited a pronounced comet-like structure at high scan rates, because the particle continued to emit light after the beam had moved onto subsequent pixels. Image analysis has been used to study the loss of brightness along the tail and hence to determine the decay time of the materials. This technique provides a simple and convenient way to study the decay times of individual particles

Coating ZnO:Zn Nanoparticles with Alumina for Polymer Protection

Using a modified preparation large nanoparticles of ZnO and ZnO:Zn were coated (without destroying the luminescent properties of the latter), but the coating is a layer of AZO not Al2O3. Large nanoparticles of ZnO:Zn were coated with a layer of ZnO by using only (NH4)HCO3 in the absence of Al2SO4

Photoluminescence Study of Symmetry-Related Transitions in the Spectrum of Y2O3:Tb3+

Herein we describe the results of a study on the photoluminescence of cubic nanosized Y2O3:Tb3+. These results confirm our earlier conclusions based on cathodoluminescence about the energy flow from excited Tb3+ in a S6 lattice site to Tb3+ in a C2 sit

Frustration induced Raman scattering in CuGeO_3

We present experimental data for the Raman intensity in the spin-Peierls compound CuGeO_3 and theoretical calculations from a one-dimensional frustrated spin model. The theory is based on (a) exact diagonalization and (b) a recently developed solitonic mean field theory. We find good agreement between the 1D-theory in the homogeneous phase and evidence for a novel dimerization of the Raman operator in the spin-Peierls state. Finally we present evidence for a coupling between the interchain exchange, the spin-Peierls order parameter and the magnetic excitations along the chains.Comment: Phys. Rev. B, Rapid Comm, in Pres

Chondroitin Sulfate Proteoglycans Are a Common Component of Neuronal Inclusions and Astrocytic Reaction in Neurodegenerative Diseases

Previously, we showed three differentially sulfated forms of chondroitin sulfate proteoglycans (CSPG) associated with senile plaques, astrocytes and neurofibrillary tangles in Alzheimer\u27s disease. Here, monoclonal antibodies were used to demonstrate CSPGs in other neurodegenerative diseases. CSPGs were found associated with inclusions of Parkinson\u27s, diffuse Lewy body, Pick\u27s diseases, and progressive supranuclear palsy. Reacting astrocytes in each of these neurodegenrative diseases and Huntington\u27s disease showed immunoreactivity for CSPG. CSPG distribution in a variety of neurodegenerative diseases suggests that similar mechanisms may be involved in the accumulation of proteoglycans in a number of filamentous inclusions

Time-dependent appearance of myofibroblasts in granulation tissue of human skin wounds

Human skin wounds (66) inflicted between 20 h and 7 months prior to biopsy were studied. In order to identify the type of cellular differentiation of the fibroblastic cells in the granulation tissue, alpha-smooth muscle actin and desmin were immunohistochemically localized. The value of any presumed time-dependent appearance and/or disappearance of positively stained cells was tested for the estimation of wound age. In skin specimens with a wound age less than 5 days (n =15) no typical granulation tissue had developed and no alpha-actin-positive myofibroblasts could be detected. The first appearance of positively reacting myofibroblasts was noted in a 5-day-old wound. In 57% of the lesions with a wound age between 5 and 31 days (25 out of 44 cases) typical granulation tissue formation was present and myofibroblasts with positive reaction for alpha-smooth muscle actin could be identified. Numerous positively reacting cells could generally be found in wounds aged between 16 and 31 days, but also in wounds less than 16 days old. In 29% of the cases with a wound age of more than 31 days (2 out of 7 cases) alpha-sma-positive myofibroblasts also occured. Fibroblastic cells positive for desmin could not be seen at all in our series. Our results demonstrate the appearance of alpha-sma-positive myofibroblasts with the initial formation of typical granulation tissue in human skin lesions as early as approximately 5 days after wounding. In contrast to recent experimental results these cells remained detectable in wounds aged more than 2 months in some cases. The immunohistochemical detection of actin-positive cells, therefore, demonstrates whether an unknown skin wound is aged approximately 5 days or more. Even though a time-dependent decrease of myofibroblasts in human granulation tissue after 31 days in human wounds seems probable, the extended presence (up to about 2 months) of these cells allows no further exact age determination of older wounds

Magnon-magnon interactions in the Spin-Peierls compound CuGeO_3

In a magnetic substance the gap in the Raman spectrum, Delta_R, is approximatively twice the value of the neutron scattering gap, Delta_S, if the the magnetic excitations (magnons) are only weakly interacting. But for CuGeO_3 the experimentally observed ratio Delta_R/Delta_S is approximatively 1.49-1.78, indicating attractive magnon-magnon interactions in the quasi-1D Spin-Peierls compound CuGe_3. We present numerical estimates for Delta_R/Delta_S from exact diagonalization studies for finite chains and find agreement with experiment for intermediate values of the frustration parameter alpha. An analysis of the numerical Raman intensity leads us to postulate a continuum of two-magnon bound states in the Spin-Peierls phase. We discuss in detail the numerical method used, the dependence of the results on the model parameters and a novel matrix-element effect due to the dimerization of the Raman-operator in the Spin-Peierls phase.Comment: submitted to PRB, Phys. Rev. B, in pres

Blue and Red Cathodoluminescent Emission of Y2O3:Eu Phosphor Studied as a Function of Temperature in a Transmission Electron Microscope

Combined EELS, CL and STEM imaging are used to characterize and study Y2O3:Eu to confirm the variation in CL properties and photo-luminescent properties observed. The synthetic procedures used have facilitated this material to manifest a strong blue emission at low temperature with the expected red emission dominating at room temperature

An inquiry-based learning approach to teaching information retrieval

The study of information retrieval (IR) has increased in interest and importance with the explosive growth of online information in recent years. Learning about IR within formal courses of study enables users of search engines to use them more knowledgeably and effectively, while providing the starting point for the explorations of new researchers into novel search technologies. Although IR can be taught in a traditional manner of formal classroom instruction with students being led through the details of the subject and expected to reproduce this in assessment, the nature of IR as a topic makes it an ideal subject for inquiry-based learning approaches to teaching. In an inquiry-based learning approach students are introduced to the principles of a subject and then encouraged to develop their understanding by solving structured or open problems. Working through solutions in subsequent class discussions enables students to appreciate the availability of alternative solutions as proposed by their classmates. Following this approach students not only learn the details of IR techniques, but significantly, naturally learn to apply them in solution of problems. In doing this they not only gain an appreciation of alternative solutions to a problem, but also how to assess their relative strengths and weaknesses. Developing confidence and skills in problem solving enables student assessment to be structured around solution of problems. Thus students can be assessed on the basis of their understanding and ability to apply techniques, rather simply their skill at reciting facts. This has the additional benefit of encouraging general problem solving skills which can be of benefit in other subjects. This approach to teaching IR was successfully implemented in an undergraduate module where students were assessed in a written examination exploring their knowledge and understanding of the principles of IR and their ability to apply them to solving problems, and a written assignment based on developing an individual research proposal