Direct real-time neural evidence for task-set inertia

One influential explanation for the costs incurred when switching between tasks is that they reflect interference arising from completing the previous task—known as task set inertia. We report a novel approach for assessing task-set inertia in a memory experiment using event related potentials (ERPs). After a study phase participants completed a test block in which they switched between a memory task (retrieving information from the study phase) and a perceptual task. These tasks alternated every two trials. An ERP index of the retrieval of study information was evident in the memory task. It was also present on the first trial of the perceptual task but was markedly attenuated on the second. Moreover, this task-irrelevant ERP activity was positively correlated with a behavioral cost associated with switching between tasks. This real-time measure of neural activity thus provides direct evidence of task-set inertia, its duration, and the functional role it plays in switch costs

Smart Finite State Devices: A Modeling Framework for Demand Response Technologies

We introduce and analyze Markov Decision Process (MDP) machines to model individual devices which are expected to participate in future demand-response markets on distribution grids. We differentiate devices into the following four types: (a) optional loads that can be shed, e.g. light dimming; (b) deferrable loads that can be delayed, e.g. dishwashers; (c) controllable loads with inertia, e.g. thermostatically-controlled loads, whose task is to maintain an auxiliary characteristic (temperature) within pre-defined margins; and (d) storage devices that can alternate between charging and generating. Our analysis of the devices seeks to find their optimal price-taking control strategy under a given stochastic model of the distribution market.Comment: 8 pages, 8 figures, submitted IEEE CDC 201

Task-specific Human Capital and Organizational Inertia

__Abstract__ Employees' incentive to invest in their task proficiency depends on the likelihood that they will execute the same tasks in the future. Changes in tasks can be warranted as a result of technological progress and changes in firm strategy as well as from fine-tuning job design and from monitoring individuals' performance. However, the possibility of a change in tasks reduces employees' incentive to invest in task-specific skills. We develop a simple two-period principal-agent model showing that some degree of inertia benefits the principal. We then analyze how organizations can optimally combine several policies to approach the optimal degree of inertia. In particular, we consider the optimal mixture of (abstaining from) exploration, managerial vision, organizational task-specific investments, and incentive pay. Our analysis yields testable predictions concerning the relations between these organizational policies

Safe Robotic Grasping: Minimum Impact-Force Grasp Selection

This paper addresses the problem of selecting from a choice of possible grasps, so that impact forces will be minimised if a collision occurs while the robot is moving the grasped object along a post-grasp trajectory. Such considerations are important for safety in human-robot interaction, where even a certified "human-safe" (e.g. compliant) arm may become hazardous once it grasps and begins moving an object, which may have significant mass, sharp edges or other dangers. Additionally, minimising collision forces is critical to preserving the longevity of robots which operate in uncertain and hazardous environments, e.g. robots deployed for nuclear decommissioning, where removing a damaged robot from a contaminated zone for repairs may be extremely difficult and costly. Also, unwanted collisions between a robot and critical infrastructure (e.g. pipework) in such high-consequence environments can be disastrous. In this paper, we investigate how the safety of the post-grasp motion can be considered during the pre-grasp approach phase, so that the selected grasp is optimal in terms applying minimum impact forces if a collision occurs during a desired post-grasp manipulation. We build on the methods of augmented robot-object dynamics models and "effective mass" and propose a method for combining these concepts with modern grasp and trajectory planners, to enable the robot to achieve a grasp which maximises the safety of the post-grasp trajectory, by minimising potential collision forces. We demonstrate the effectiveness of our approach through several experiments with both simulated and real robots.Comment: To be appeared in IEEE/RAS IROS 201

Evaluating rules of interaction for object manipulation in cluttered virtual environments

A set of rules is presented for the design of interfaces that allow virtual objects to be manipulated in 3D virtual environments (VEs). The rules differ from other interaction techniques because they focus on the problems of manipulating objects in cluttered spaces rather than open spaces. Two experiments are described that were used to evaluate the effect of different interaction rules on participants' performance when they performed a task known as "the piano mover's problem." This task involved participants in moving a virtual human through parts of a virtual building while simultaneously manipulating a large virtual object that was held in the virtual human's hands, resembling the simulation of manual materials handling in a VE for ergonomic design. Throughout, participants viewed the VE on a large monitor, using an "over-the-shoulder" perspective. In the most cluttered VEs, the time that participants took to complete the task varied by up to 76% with different combinations of rules, thus indicating the need for flexible forms of interaction in such environments

The Growth and Decay of Custom: The Role of the New Institutional Economics in Economic History

Customs and institutions affect and are affected by economic relations and processes. The two-way interaction is particularly important in studying history where the scale of the temporal canvas ensures that very few variables can be treated as parametric. This paper assesses the methodology which attempts the task. In particular it examines the problem of endogenizing customs, evaluates claims for the optimality of institutions, and also comments on the interplay between structural and inertial forces. Recent work in the new institutional economics stresses structural forces, while traditional history emphasizes inertial forces, but on closer analysis these are shown to be complementary.New institutional economics, inertia, optimality of institutions, Alfred Marshall, data of analysis

Critical Stokes number for the capture of inertial particles by recirculation cells in 2D quasi-steady flows

Inertial particles are often observed to be trapped, temporarily or permanently, by recirculation cells which are ubiquitous in natural or industrial flows. In the limit of small particle inertia, determining the conditions of trapping is a challenging task, as it requires a large number of numerical simulations or experiments to test various particle sizes or densities. Here, we investigate this phenomenon analytically and numerically in the case of heavy particles (e.g. aerosols) at low Reynolds number, to derive a trapping criterion that can be used both in analytical and numerical velocity fields. The resulting criterion allows to predict the characteristics of trapped particles as soon as single-phase simulations of the flow are performed. Our analysis is valid for two-dimensional particle-laden flows in the vertical plane, in the limit where the particle inertia, the free-fall terminal velocity, and the flow unsteadiness can be treated as perturbations. The weak unsteadiness of the flow generally induces a chaotic tangle near heteroclinic or homoclinic cycles if any, leading to the apparent diffusion of fluid elements through the boundary of the cell. The critical particle Stokes number Stc below which aerosols also enter and exit the cell in a complex manner has been derived analytically, in terms of the flow characteristics. It involves the non-dimensional curvature-weighted integral of the squared velocity of the steady fluid flow along the dividing streamline of the recirculation cell. When the flow is unsteady and St > Stc, a regular motion takes place due to gravity and centrifugal effects, like in the steady case. Particles driven towards the interior of the cell are trapped permanently. In contrast, when the flow is unsteady and St < Stc, particles wander in a chaotic manner in the vicinity of the border of the cell, and can escape the cell