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Personalization framework for adaptive robotic feeding assistance

The final publication is available at link.springer.comThe deployment of robots at home must involve robots with pre-defined skills and the capability of personalizing their behavior by non-expert users. A framework to tackle this personalization is presented and applied to an automatic feeding task. The personalization involves the caregiver providing several examples of feeding using Learning-by- Demostration, and a ProMP formalism to compute an overall trajectory and the variance along the path. Experiments show the validity of the approach in generating different feeding motions to adapt to user’s preferences, automatically extracting the relevant task parameters. The importance of the nature of the demonstrations is also assessed, and two training strategies are compared. © Springer International Publishing AG 2016.Peer ReviewedPostprint (author's final draft

Ricci flows with bursts of unbounded curvature

Given a completely arbitrary surface, whether or not it has bounded curvature, or even whether or not it is complete, there exists an instantaneously complete Ricci flow evolution of that surface that exists for a specific amount of time [GT11]. In the case that the underlying Riemann surface supports a hyperbolic metric, this Ricci flow always exists for all time and converges (after scaling by a factor 1/2t ) to this hyperbolic metric [GT11], i.e. our Ricci flow geometrises the surface. In this paper we show that there exist complete, bounded curvature initial metrics, including those conformal to a hyperbolic metric, which have subsequent Ricci flows developing unbounded curvature at certain intermediate times. In particular, when coupled with the uniqueness from [Top13], we find that any complete Ricci flow starting with such initial metrics must develop unbounded curvature over some intermediate time interval, but that nevertheless, the curvature must later become bounded and the flow must achieve geometrisation as t → ∞, even though there are other conformal deformations to hyperbolic metrics that do not involve unbounded curvature. Another consequence of our constructions is that while our Ricci flow from [GT11] must agree initially with the classical flow of Hamilton and Shi in the special case that the initial surface is complete and of bounded curvature, by uniqueness, it is now clear that our flow lasts for a longer time interval in general, with Shi’s flow stopping when the curvature blows up, but our flow continuing strictly beyond in these situations. All our constructions of unbounded curvature developing and then disappearing are in two dimensions. Generalisations to higher dimensions are then immediate

Surfing or drowning? Student nurses’ Internet skills

The ability to use the Internet is an essential skill for nursing students, both to support their studies, especially as nursing students spend a lot of their time in placements away from the university campus, and to support their development of skills in using what is becoming an increasingly essential tool for professionals. A study at Bournemouth University, England, found that new student nurses had poor Internet skills and were not frequent users prior to starting the course. No link was found between the students’ ages and their Internet use or skills. A clear link was however found between ability and frequency of use, except in relationship to the students’ ability to conduct an effective search. Almost half of the respondents said that they find far too much irrelevant information when searching for information on the Internet. Given the importance of Information and Technology skills to nurses, both as lifelong learners and as competent practitioners and to nursing students throughout their pre-registration education, the inclusion of a programme to ensure that they develop these skills during their pre-registration education is essential

Surfing or drowning? Student nurses’ Internet skills

The ability to use the Internet is an essential skill for nursing students, both to support their studies, especially as nursing students spend a lot of their time in placements away from the university campus, and to support their development of skills in using what is becoming an increasingly essential tool for professionals. A study at Bournemouth University, England, found that new student nurses had poor Internet skills and were not frequent users prior to starting the course. No link was found between the students’ ages and their Internet use or skills. A clear link was however found between ability and frequency of use, except in relationship to the students’ ability to conduct an effective search. Almost half of the respondents said that they find far too much irrelevant information when searching for information on the Internet. Given the importance of Information and Technology skills to nurses, both as lifelong learners and as competent practitioners and to nursing students throughout their pre-registration education, the inclusion of a programme to ensure that they develop these skills during their pre-registration education is essential

Inverse modelling of Köhler theory – Part 1: A response surface analysis of CCN spectra with respect to surface-active organic species

This is the final version of the article. Available from European Geosciences Union (EGU) and Copernicus Publications via the DOI in this record.In this study a novel framework for inverse modelling of cloud condensation nuclei (CCN) spectra is developed using Köhler theory. The framework is established by using model-generated synthetic measurements as calibration data for a parametric sensitivity analysis. Assessment of the relative importance of aerosol physicochemical parameters, while accounting for bulk–surface partitioning of surface-active organic species, is carried out over a range of atmospherically relevant supersaturations. By introducing an objective function that provides a scalar metric for diagnosing the deviation of modelled CCN concentrations from synthetic observations, objective function response surfaces are presented as a function of model input parameters. Crucially, for the chosen calibration data, aerosol–CCN spectrum closure is confirmed as a well-posed inverse modelling exercise for a subset of the parameters explored herein. The response surface analysis indicates that the appointment of appropriate calibration data is particularly important. To perform an inverse aerosol–CCN closure analysis and constrain parametric uncertainties, it is shown that a high-resolution CCN spectrum definition of the calibration data is required where single-valued definitions may be expected to fail. Using Köhler theory to model CCN concentrations requires knowledge of many physicochemical parameters, some of which are difficult to measure in situ on the scale of interest and introduce a considerable amount of parametric uncertainty to model predictions. For all partitioning schemes and environments modelled, model output showed significant sensitivity to perturbations in aerosol log-normal parameters describing the accumulation mode, surface tension, organic : inorganic mass ratio, insoluble fraction, and solution ideality. Many response surfaces pertaining to these parameters contain well-defined minima and are therefore good candidates for calibration using a Monte Carlo Markov Chain (MCMC) approach to constraining parametric uncertainties. A complete treatment of bulk–surface partitioning is shown to predict CCN spectra similar to those calculated using classical Köhler theory with the surface tension of a pure water drop, as found in previous studies. In addition, model sensitivity to perturbations in the partitioning parameters was found to be negligible. As a result, this study supports previously held recommendations that complex surfactant effects might be neglected, and the continued use of classical Köhler theory in global climate models (GCMs) is recommended to avoid an additional computational burden. The framework developed is suitable for application to many additional composition-dependent processes that might impact CCN activation potential. However, the focus of this study is to demonstrate the efficacy of the applied sensitivity analysis to identify important parameters in those processes and will be extended to facilitate a global sensitivity analysis and inverse aerosol–CCN closure analysis.This work was supported by the UK Natural Environment Research Council grants NE/I020148/1 (AerosolCloud Interactions – A Directed Programme to Reduce Uncertainty in Forcing) and NE/J024252/1 (Global Aerosol Synthesis And Science Project). P. Stier would like to acknowledge funding from the European Research Council under the European Union’s Seventh Framework Programme (FP7/2007-2013) ERC project ACCLAIM (grant agreement no. FP7-280025)

Asymptotic stability, concentration, and oscillation in harmonic map heat-flow, Landau-Lifshitz, and Schroedinger maps on R^2

We consider the Landau-Lifshitz equations of ferromagnetism (including the harmonic map heat-flow and Schroedinger flow as special cases) for degree m equivariant maps from R^2 to S^2. If m \geq 3, we prove that near-minimal energy solutions converge to a harmonic map as t goes to infinity (asymptotic stability), extending previous work down to degree m = 3. Due to slow spatial decay of the harmonic map components, a new approach is needed for m=3, involving (among other tools) a "normal form" for the parameter dynamics, and the 2D radial double-endpoint Strichartz estimate for Schroedinger operators with sufficiently repulsive potentials (which may be of some independent interest). When m=2 this asymptotic stability may fail: in the case of heat-flow with a further symmetry restriction, we show that more exotic asymptotics are possible, including infinite-time concentration (blow-up), and even "eternal oscillation".Comment: 34 page

Boundedness of completely additive measures with application to 2-local triple derivations

We prove a Jordan version of Dorofeev's boundedness theorem for completely additive measues and use it to show that every (not necessarily linear nor continuous) 2-local triple derivation on a continuous JBW*-triple is a triple derivation.Comment: 30 page