When the goal is to generate a series of activities: A self-organized simulated robot arm

Behavior is characterized by sequences of goal-oriented conducts, such as food uptake, socializing and resting. Classically, one would define for each task a corresponding satisfaction level, with the agent engaging, at a given time, in the activity having the lowest satisfaction level. Alternatively, one may consider that the agent follows the overarching objective to generate sequences of distinct activities. To achieve a balanced distribution of activities would then be the primary goal, and not to master a specific task. In this setting, the agent would show two types of behaviors, task-oriented, and task-searching phases, with the latter interseeding the former. We study the emergence of autonomous task switching for the case of a simulated robot arm. Grasping one of several moving objects corresponds in this setting to a specific activity. Overall, the arm should follow a given object temporarily and then move away, in order to search for a new target and reengage. We show that this behavior can be generated robustly when modeling the arm as an adaptive dynamical system. The dissipation function is in this approach time dependent. The arm is in a dissipative state when searching for a nearby object, dissipating energy on approach. Once close, the dissipation function starts to increase, with the eventual sign change implying that the arm will take up energy and wander off. The resulting explorative state ends when the dissipation function becomes again negative and the arm selects a new target. We believe that our approach may be generalized to generate self-organized sequences of activities in general.Comment: 10 pages, 7 figure

A Novel Decomposition for Control of DC Circuits and Grid Models with Heterogeneous Energy Sources

The way in which electric power depends on the topology of circuits with mixed voltage and current sources is examined. The power flowing in any steady-state DC circuit is shown to depend on a minimal set of key variables called fundamental node voltages and fundamental edge currents. Every steady-state DC circuit can be decomposed into a voltage controlled subcircuit and a current controlled subcircuit. In terms of such a decomposition, the I^2R losses of a mixed source circuit are always the sum of losses on the voltage controlled subcircuit and the current controlled subcircuit. The paper concludes by showing that the total power flowing in a mixed source circuit can be found as critical points of the power expressed in terms of the key voltage and current variables mentioned above. The possible relationship to topology control of electric grid operations is discussed

Vélomobility - A critical analysis of planning and space

The purpose of this doctoral study is to bring a spatial dimension into the research on urban mobilities and connect the spatial dimension to the marginalisation of cyclists in urban space. This is been done by exploring the role of urban bicycling and transport planning. The theoretical frame of space, mobilities and power is used for analysing that role through case studies in two Scandinavian cities, Copenhagen and Stockholm. Urban bicycling is a good example of showing the relation between space and mobilities, since cyclists often suffer from marginalised space in cities around the world. The philosophical foundation of the thesis is in critical realism and critical theory. For background data, observations and document studies have been conducted in Stockholm and Copenhagen. The main data collection for this thesis was done both qualitatively, in the form of interviews with planners and politicians, and quantitatively, in the form of survey studies among the citizens of Copenhagen and Stockholm. The data is analysed with the help of the theoretical framework that builds on mobility studies, spatial theory by Lefebvre, and Harvey and power theories deriving mainly from Lukes’ three dimensions of power. The materialisation of power relations is analysed with the example of modern planning in Sweden and Denmark. Overall this thesis manages to show how cycling as a mode of transport is marginalised in urban space, and that urban space wars between cyclists and car drivers and among cyclists are fought in Copenhagen as well as in Stockholm. The conclusion is that different factors, such as the economic situations in Denmark and Sweden, have affected urban and transport planning and thus have created two very different transport systems, where cycling plays a large role (Copenhagen) and a smaller role (Stockholm). Nevertheless, this thesis shows that even in cities that are very good for cycling, like Copenhagen, the motorised modes of transport create many problems and are still dominating urban space

Kick control: using the attracting states arising within the sensorimotor loop of self-organized robots as motor primitives

Self-organized robots may develop attracting states within the sensorimotor loop, that is within the phase space of neural activity, body, and environmental variables. Fixpoints, limit cycles, and chaotic attractors correspond in this setting to a non-moving robot, to directed, and to irregular locomotion respectively. Short higher-order control commands may hence be used to kick the system from one self-organized attractor robustly into the basin of attraction of a different attractor, a concept termed here as kick control. The individual sensorimotor states serve in this context as highly compliant motor primitives. We study different implementations of kick control for the case of simulated and real-world wheeled robots, for which the dynamics of the distinct wheels is generated independently by local feedback loops. The feedback loops are mediated by rate-encoding neurons disposing exclusively of propriosensoric inputs in terms of projections of the actual rotational angle of the wheel. The changes of the neural activity are then transmitted into a rotational motion by a simulated transmission rod akin to the transmission rods used for steam locomotives. We find that the self-organized attractor landscape may be morphed both by higher-level control signals, in the spirit of kick control, and by interacting with the environment. Bumping against a wall destroys the limit cycle corresponding to forward motion, with the consequence that the dynamical variables are then attracted in phase space by the limit cycle corresponding to backward moving. The robot, which does not dispose of any distance or contact sensors, hence reverses direction autonomously.Comment: 17 pages, 9 figure

In-flight PSF calibration of the NuSTAR hard X-ray optics

We present results of the point spread function (PSF) calibration of the hard X-ray optics of the Nuclear Spectroscopic Telescope Array (NuSTAR). Immediately post-launch, NuSTAR has observed bright point sources such as Cyg X-1, Vela X-1, and Her X-1 for the PSF calibration. We use the point source observations taken at several off-axis angles together with a ray-trace model to characterize the in-orbit angular response, and find that the ray-trace model alone does not fit the observed event distributions and applying empirical corrections to the ray-trace model improves the fit significantly. We describe the corrections applied to the ray-trace model and show that the uncertainties in the enclosed energy fraction (EEF) of the new PSF model is < 3% for extraction apertures of R > 60" with no significant energy dependence. We also show that the PSF of the NuSTAR optics has been stable over a period of ~300 days during its in-orbit operation.Comment: 10 pages, 6 figures. Presented at the SPIE conference Astronomical Telescopes + Instrumentation 201

Shopping Centres, Cycling Accessibility and Planning–The Case of Nova Lund in Sweden

This paper evaluates the history and cycling accessibility of Nova, a shopping centre established in Lund, Sweden, in 2002. The current situation was also analysed through observation and a literature review. Moreover, the study conducted a closer analysis of the history and role of the municipality based on further literature study and interviews with officials. The conclusion of the analysis indicates poor and unsafe bikeways caused by conflicts of interest between politicians, officials, landowners and the general public. It also depicts a situation in which the municipality’s master plan has been ignored, and, in contrast to the local goals, cycling accessibility at Nova has seen no significant improvement since the shopping centre was first established. The reasons for this, arguably, are a relatively low budget for bikeway improvements in the municipality, as well as a situation in which decision-makers have stopped approaching the subject, as a result of the long and often boisterous conflicts it has created in the past. Lastly, it must be noted that it is easy to regard the whole process of Nova, from its establishment to the current situation, as being symptomatic of the power structures between drivers and cyclists that still affect decision-makers at all levels