The Sheffield Wargames Corpus.

Recognition of speech in natural environments is a challenging task, even more so if this involves conversations between sev-eral speakers. Work on meeting recognition has addressed some of the significant challenges, mostly targeting formal, business style meetings where people are mostly in a static position in a room. Only limited data is available that contains high qual-ity near and far field data from real interactions between par-ticipants. In this paper we present a new corpus for research on speech recognition, speaker tracking and diarisation, based on recordings of native speakers of English playing a table-top wargame. The Sheffield Wargames Corpus comprises 7 hours of data from 10 recording sessions, obtained from 96 micro-phones, 3 video cameras and, most importantly, 3D location data provided by a sensor tracking system. The corpus repre-sents a unique resource, that provides for the first time location tracks (1.3Hz) of speakers that are constantly moving and talk-ing. The corpus is available for research purposes, and includes annotated development and evaluation test sets. Baseline results for close-talking and far field sets are included in this paper. 1

Scaling up a Boltzmann machine model of hippocampus with visual features for mobile robots

Previous papers [4], [5] have described a detailed mapping between biological hippocampal navigation and a temporal restricted Boltzmann machine [20] with unitary coherent particle filtering. These models have focused on the biological structures and used simplified microworlds in implemented examples. As a first step in scaling the model up towards practical bio-inspired robotic navigation, we present new results with the model applied to real world visual data, though still limited by a discretized configuration space. To extract useful features from visual input we apply the SURF transform followed by a new lamellae-based winner-take-all Dentate Gyrus. This new visual processing stream allows the navigation system to function without the need for a simplifying data assumption of the previous models, and brings the hippocampal model closer to being a practical robotic navigation system

Whisker-object contact speed affects radial distance estimation

Whiskered mammals such as rats are experts in tactile perception. By actively palpating surfaces with their whiskers, rats and mice are capable of acute texture discrimination and shape perception. We present a novel system for investigating whisker-object contacts repeatably and reliably. Using an XY positioning robot and a biomimetic artificial whisker we can generate signals for different whisker-object contacts under a wide range of conditions. Our system is also capable of dynamically altering the velocity and direction of the contact based on sensory signals. This provides a means for investigating sensory motor interaction in the tactile domain. Here we implement active contact control, and investigate the effect that speed has on radial distance estimation when using different features for classification. In the case of a moving object contacting a whisker, magnitude of deflection can be ambiguous in distinguishing a nearby object moving slowly from a more distant object moving rapidly. This ambiguity can be resolved by finding robust features for contact speed, which then informs classification of radial distance. Our results are verified on a dataset from SCRATCHbot, a whiskered mobile robot. Building whiskered robots and modelling these tactile perception capabilities would allow exploration and navigation in environments where other sensory modalities are impaired, for example in dark, dusty or loud environments such as disaster areas. © 2010 IEEE

Whiskered texture classification with uncertain contact pose geometry

Tactile sensing can be an important source of information for robots, and texture discrimination in particular is useful in object recognition and terrain identification. Whisker based tactile sensing has recently been shown to be a promising approach for mobile robots, using simple sensors and many classification approaches. However these approaches have often been tested in limited environments, and have not been compared against one another in a controlled way. A wide range of whisker-object contact poses are possible on a mobile robot, and the effect such contact variability has on sensing has not been properly investigated. We present a novel, carefully controlled study of simple surface texture classifiers on a large set of varied pose conditions that mimic those encountered by mobile robots. Namely, single brief whisker contacts with textured surfaces at a range of surface orientations and contact speeds. Results show that different classifiers are appropriate for different settings, with spectral template and feature based approaches performing best in surface texture, and contact speed estimation, respectively. The results may be used to inform selection of classifiers in tasks such as tactile SLAM

Naive Bayes texture classification applied to whisker data from a moving robot

Many rodents use their whiskers to distinguish objects by surface texture. To examine possible mechanisms for this discrimination, data from an artificial whisker attached to a moving robot was used to test texture classification algorithms. This data was examined previously using a template-based classifier of the whisker vibration power spectrum [1]. Motivated by a proposal about the neural computations underlying sensory decision making [2], we classified the raw whisker signal using the related ‘naive Bayes’ method. The integration time window is important, with roughly 100ms of data required for good decisions and 500ms for the best decisions. For stereotyped motion, the classifier achieved hit rates of about 80% using a single (horizontal or vertical) stream of vibration data and 90% using both streams. Similar hit rates were achieved on natural data, apart from a single case in which the performance was only about 55%. Therefore this application of naive Bayes represents a biologically motivated algorithm that can perform well in a real-world robot task

CrunchBot : a mobile whiskered robot platform

CrunchBot is a robot platform for developing models of tactile perception and navigation. We present the architecture of CrunchBot, and show why tactile navigation is difficult. We give novel real-time performance results from components of a tactile navigation system and a description of how they may be integrated at a systems level. Components include floor surface classification, radial distance estimation and navigation. We show how tactile-only navigation differs fundamentally from navigation tasks using vision or laser sensors, in that the assumptions about the data preclude standard algorithms (such as extended Kalman Filters) and require brute-force methods

Niche variation and the maintenance of variation in body size in a burying beetle

© 2015 The Authors. Ecological Entomology published by John Wiley & Sons Ltd on behalf of Royal Entomological Society. This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.Online Version of Record published before inclusion in an issue.The final published version is available via DOI: 10.1111/een.122751. In burying beetles (Nicrophorinae) body size is known to provide both a fecundity advantage (in females) and successful resource defence (in males and females). Despite this, considerable variation in body sizes is observed in natural populations. 2. A possible explanation for the maintenance of this variation, even with intra- and interspecific resource competition, is that individuals might assort according to body size on different sized breeding-resources. 3. We tested the prediction that ‘bigger is always better’ in the wild, and in the laboratory, by experimentally manipulating combinations of available breeding-resource size (mouse carcasses) and competitor’s body size in Nicrophorus vespilloides (Herbst 1783). 4. In the field, large female beetles deserted small carcasses, without breeding, more often than they did larger carcasses, but small females used carcasses indiscriminately with respect to size. In the laboratory large beetles reared larger broods (with more offspring) on larger carcasses than small beetles, but on small carcasses small beetles had a reproductive advantage over large ones. Offspring size covaried with carcass size independently of parental body size. 5. Our combined results suggest breeding resource value depends on an individual’s body size, and variation in body size is environmentally induced: maintained by differences in available carcass sizes. This produces a mechanism by which individual specialisation leads to an increase in niche variation via body size in these beetles.This work was supported by a PhD studentship from the Natural Environment Research Council (NE/1528326/1) and a grant from NERC to N.J.R. and A.J.M. (NE/1025468/1)

Towards hierarchical blackboard mapping on a whiskered robot

The paradigm case for robotic mapping assumes large quantities of sensory information which allow the use of relatively weak priors. In contrast, the present study considers the mapping problem for a mobile robot, CrunchBot, where only sparse, local tactile information from whisker sensors is available. To compensate for such weak likelihood information, we make use of low-level signal processing and strong hierarchical object priors. Hierarchical models were popular in classical blackboard systems but are here applied in a Bayesian setting as a mapping algorithm. The hierarchical models require reports of whisker distance to contact and of surface orientation at contact, and we demonstrate that this information can be retrieved by classifiers from strain data collected by CrunchBot's physical whiskers. We then provide a demonstration in simulation of how this information can be used to build maps (but not yet full SLAM) in an zero-odometry-noise environment containing walls and table-like hierarchical objects. © 2012 Elsevier B.V. All rights reserved

The robot vibrissal system: Understanding mammalian sensorimotor co-ordination through biomimetics

Chapter 10 The Robot Vibrissal System: Understanding Mammalian Sensorimotor Co-ordination Through Biomimetics Tony J. Prescott, Ben Mitchinson, Nathan F. Lepora, Stuart P. Wilson, Sean R. Anderson, John Porrill, Paul Dean, Charles ..

Cyclophosphamide and human organ transplantation.

Cyclophosphamide, a drug that has not previously had an important role in whole-organ transplantation, was given as a primary immunosuppressant to one liver and eleven kidney recipients, in combination with prednisone and horse antilymphocyte globulin. One of the patients died despite good renal-graft function. Two kidneys from a common cadaveric donor failed. The other nine patients have excellent function of their homografts after 2-3 months. Cyclophosphamide was substituted for azathioprine in one hepatic and five renal recipients who were suspected of having liver toxicity from azathioprine 3 months to almost 8 years post-transplantation. Graft function was maintained after this change, and the evidence of liver injury subsided. © 1971