SAFETY-GUARANTEED TASK PLANNING FOR BIPEDAL NAVIGATION IN PARTIALLY OBSERVABLE ENVIRONMENTS

Bipedal robots are becoming more capable as basic hardware and control challenges are being overcome, however reasoning about safety at the task and motion planning levels has been largely underexplored. I would like to make key steps towards guaranteeing safe locomotion in cluttered environments in the presence of humans or other dynamic obstacles by designing a hierarchical task planning framework that incorporates safety guarantees at each level. This layered planning framework is composed of a coarse high-level symbolic navigation planner and a lower-level local action planner. A belief abstraction at the global navigation planning level enables belief estimation of non-visible dynamic obstacle states and guarantees navigation safety with collision avoidance. Both planning layers employ linear temporal logic for a reactive game synthesis between the robot and its environment while incorporating lower level safe locomotion keyframe policies into formal task specification design. The high-level symbolic navigation planner has been extended to leverage the capabilities of a heterogeneous multi-agent team to resolve environment assumption violations that appear at runtime. Modifications in the navigation planner in conjunction with a coordination layer allow each agent to guarantee immediate safety and eventual task completion in the presence of an assumption violation if another agent exists that can resolve said violation, e.g. a door is closed that another dexterous agent can open. The planning framework leverages the expressive nature and formal guarantees of LTL to generate provably correct controllers for complex robotic systems. The use of belief space planning for dynamic obstacle belief tracking and heterogeneous robot capabilities to assist one another when environment assumptions are violated allows the planning framework to reduce the conservativeness traditionally associated with using formal methods for robot planning.M.S

An investigation of record linkage refusal and its implications for empirical research

Linking survey data to administrative records provides access to large quantities of information such as full employment biographies. Although this practice is becoming increasingly common, only a small number of studies in the field of social sciences have thus far investigated the variables associated with linkage consent. These studies have produced diverging results with regard to the relevance of certain characteristics for the provision or non-provision of linkage consent. In this study, we analyze two comparable German datasets, thereby shedding new light on the possible reasons for previously inconsistent results. This is also the first study in which possible linkage consent bias is investigated in applied models, via the replication of an existing study for the sample in which respondents did not consent to data linkage. Whilst similar results are found between standard sociodemographic variables and linkage consent, there are considerable inconsistencies between the comparable datasets in terms of variables such as individual personality traits and work satisfaction. Overall, however, the results are promising – results do not differ much where respondents who did not provide linkage consent are considered

Competitive balance and assortative matching in the German Bundesliga

In this paper we consider trends in the distribution of player talent across association football clubs over time. Player talent is the most important prerequisite for team success in professional sports leagues and changes in players’ assortativeness in regard to the clubs they play for may arguably be an important factor for changes in competitive balance. We offer a new approach for measuring player talent and its distribution - the partial correlation of each player with the goal margin. We use this measure to analyze the degree of competitive balance over time. This approach enables us to examine how player mobility drives competitive balance over time. Empirical results are based on 19 seasons of the first two divisions of the German Bundesliga as well as domestic cup games. Our results show a decrease in competitive balance over time; better teams tend to attract increasingly better players. We show that this is driven by an increasingly unequal inter-divisional distribution of teams, coaches and players, as well as increasing assortativeness in the 1st Bundesliga. We further demonstrate that player transfers between Bundesliga teams results in assortative matching between players and teams. These domestic transfers do not, however, explain the reduction in competitive balance over time. Furthermore, we show that UEFA Champions League payments may have contributed to the reduction in competitive balance over the last two decades

Determinants of work-related training: an investigation of observed and unobserved firm-, job- and worker-heterogeneity

One of the most important policy goals in industrialized countries is to increase the skill level of the labor force by life-long-learning strategies. In this paper our aim is to explain to what extent the variation in training investments is determined either by (observed and unobserved) heterogeneity of firms or of workers, hence we put a new perspective on the determinants of training. Rather than analyzing single determinants or groups of variables, we decompose the variation into a worker-specific and a firm-specific part and show how much of the unexplained variation is independent of both. Our results show that both firm-, job- and worker-level heterogeneity explains training participation and that firm heterogeneity is far less important compared to the others. Also interesting, is the finding that a large part of the overall variance is not driven by firm- or worker heterogeneity, hence training participation seems to be to some extent an unexplained event which happens by chance

Incentivizing creativity : a large-scale experiment with tournaments and gifts

This paper reports the results from a large-scale laboratory experiment investigating the impact of tournament incentives and wage gifts on creativity. We find that tournaments substantially increase creative output, with no evidence for crowding out of intrinsic motivation. By comparison, wage gifts are ineffective. Additional treatments show that it is the uncertain mapping between effort and output that inhibits reciprocity. This uncertainty is prevalent in creative and other complex tasks. Our findings provide a rationale for the frequent use of tournaments when seeking to motivate creative output

Incentives and creativity

Ideenreichtum und Innovationen stellen in wissensintensiven Volkswirtschaften den Schlüssel zu Wettbewerbsfähigkeit und Erfolg von Unternehmen dar. In einem solchen Umfeld muss ein Unternehmen strategisch Maßnahmen entwickeln, um Anreize für neue Ideen im Unternehmen zu schaffen und eine Kultur aufbauen, in der Wissensproduktion honoriert wird. Die vom SEEK-Forschungsprogramm finanzierte Forschungsarbeit behandelt zwei empirische Studien, die sich mit der Frage beschäftigen, ob finanzielle Belohnungen wie leistungsunabhängige Zusatzzahlungen oder Leistungsprämien Kreativität und Einfallsreichtum unter den Mitarbeitern fördern, und inwieweit die Effekte der Belohnungen je nach Art der Honorierung variieren

Arctic Seafloor Integrity Cruise No. MSM95 – (GPF 19-2_05)

The main aim of the MSM95 research expedition was to investigate and map physical impacts on the arctic seafloor in two distinct and contrasting Arctic areas (The Svalbard shelf edge and the HAUSGARTEN time series stations in the FRAM strait) with a range of research equipment. A ‘nested’ data approach was conducted in each research area, with broad seafloor mapping conducted initially with the R/V MARIA S. MERIAN onboard acoustic systems (The EM122 and EM712 bathymetric systems), followed by focused subsequent mapping conducted by PAUL 3000 automated underwater vehicle (AUV) sidescan and camera deployments, Ocean Floor Observation and Bathymetry System (OFOBS) towed sidescan and camera trawls and finally with very high resolution investigations conducted with a new mini-ROV launched directly from the OFOBS for close seafloor visual analysis. These data will be used to produce spatial distribution maps of iceberg and fishery impacts on the seafloor at three locations to the north, south and west of the Svalbard Archipelago, as well as maps of drop stone and topography variations across several of the HAUSGARTEN stations

Constitutivism

A brief explanation and overview of constitutivism

Philosophy of action

The philosophical study of human action begins with Plato and Aristotle. Their influence in late antiquity and the Middle Ages yielded sophisticated theories of action and motivation, notably in the works of Augustine and Aquinas.1 But the ideas that were dominant in 1945 have their roots in the early modern period, when advances in physics and mathematics reshaped philosophy