Templates and anchors for antenna-based wall following in cockroaches and robots

The interplay between robotics and neuromechanics facilitates discoveries in both fields: nature provides roboticists with design ideas, while robotics research elucidates critical features that confer performance advantages to biological systems. Here, we explore a system particularly well suited to exploit the synergies between biology and robotics: high-speed antenna-based wall following of the American cockroach (Periplaneta americana). Our approach integrates mathematical and hardware modeling with behavioral and neurophysiological experiments. Specifically, we corroborate a prediction from a previously reported wall-following template - the simplest model that captures a behavior - that a cockroach antenna-based controller requires the rate of approach to a wall in addition to distance, e.g., in the form of a proportional-derivative (PD) controller. Neurophysiological experiments reveal that important features of the wall-following controller emerge at the earliest stages of sensory processing, namely in the antennal nerve. Furthermore, we embed the template in a robotic platform outfitted with a bio-inspired antenna. Using this system, we successfully test specific PD gains (up to a scale) fitted to the cockroach behavioral data in a "real-world" setting, lending further credence to the surprisingly simple notion that a cockroach might implement a PD controller for wall following. Finally, we embed the template in a simulated lateral-leg-spring (LLS) model using the center of pressure as the control input. Importantly, the same PD gains fitted to cockroach behavior also stabilize wall following for the LLS model. © 2008 IEEE.

N-best error simulation for training spoken dialogue systems

A recent trend in spoken dialogue research is the use of reinforcement learning to train dialogue systems in a simulated environment. Past researchers have shown that the types of errors that are simulated can have a significant effect on simulated dialogue performance. Since modern systems typically receive an N-best list of possible user utterances, it is important to be able to simulate a full N-best list of hypotheses. This paper presents a new method for simulating such errors based on logistic regression, as well as a new method for simulating the structure of N-best lists of semantics and their probabilities, based on the Dirichlet distribution. Off-line evaluations show that the new Dirichlet model results in a much closer match to the receiver operating characteristics (ROC) of the live data. Experiments also show that the logistic model gives confusions that are closer to the type of confusions observed in live situations. The hope is that these new error models will be able to improve the resulting performance of trained dialogue systems. © 2012 IEEE.

Unsupervised intra-lingual and cross-lingual speaker adaptation for HMM-based speech synthesis using two-pass decision tree construction

Hidden Markov model (HMM)-based speech synthesis systems possess several advantages over concatenative synthesis systems. One such advantage is the relative ease with which HMM-based systems are adapted to speakers not present in the training dataset. Speaker adaptation methods used in the field of HMM-based automatic speech recognition (ASR) are adopted for this task. In the case of unsupervised speaker adaptation, previous work has used a supplementary set of acoustic models to estimate the transcription of the adaptation data. This paper first presents an approach to the unsupervised speaker adaptation task for HMM-based speech synthesis models which avoids the need for such supplementary acoustic models. This is achieved by defining a mapping between HMM-based synthesis models and ASR-style models, via a two-pass decision tree construction process. Second, it is shown that this mapping also enables unsupervised adaptation of HMM-based speech synthesis models without the need to perform linguistic analysis of the estimated transcription of the adaptation data. Third, this paper demonstrates how this technique lends itself to the task of unsupervised cross-lingual adaptation of HMM-based speech synthesis models, and explains the advantages of such an approach. Finally, listener evaluations reveal that the proposed unsupervised adaptation methods deliver performance approaching that of supervised adaptation.

Product Service Systems and supply network relationships: An exploratory case study

Purpose - In recent years there has been increasing interest in Product Service Systems (PSSs) as a business model for selling integrated product and service offerings. To date, there has been extensive research into the benefits of PSS to manufacturers and their customers, but there has been limited research into the effect of PSS on the upstream supply chain. This paper seeks to address this gap in the research. Design/methodology/approach - The research uses case-based research which is appropriate for exploratory research of this type. In-depth interviews were conducted with key personnel in a focal firm and two members of its supply chain, and the results were analysed to identify emergent themes.b Findings - The research has identified differences in supplier behaviour dependent on their role in PSS delivery and their relationship with the PSS provider. In particular, it suggests that for a successful partnership it is important to align the objectives between PSS provider and suppliers. Originality/value - This research provides a detailed investigation into a PSS supply chain and highlights the complexity of roles and relationships among the organizations within it. It will be of value to other PSS researchers and organizations transitioning to the delivery of PSS. © Emerald Group Publishing Limited.

Industrialization as a key element of sustainable product-service solutions

Product-service systems are seen by many authors to offer potential for significant sustainability benefit. Manufacturing companies are said to be essential to such a change through their influence over product performance and over the use and end-of-life stages. Yet linking these stages such that the producer is incentivized to improve the performance of later stages is still a challenge. This paper argues for placing the producer at the centre of a new arrangement: by seeking to utilize the producer's knowledge of designing and the knowledge of volume production, through creation of platforms, while cooperating closely with other actors. The paper describes three case studies that have used such an approach to design and implement new food production systems. Based on 12 months of action research observations, 10 participating organizations from the cases were studied, and the implemented solutions assessed for environmental, economic and social performance. The results demonstrate a high level of sustainability benefit is achievable using platforms and partners to design product-service systems, while highlighting that changes to production arrangements are necessary but not sufficient to improve whole life-cycle environmental performance of product-service systems, and that producers need to cooperate closely with other actors to achieve the claimed benefits.

Sensor graphs for guaranteed cooperative localization performance

A group of mobile robots can localize cooperatively, using relative position and absolute orientation measurements, fused through an extended Kalman filter (ekf). The topology of the graph of relative measurements is known to affect the steady-state value of the position error covariance matrix. Classes of sensor graphs are identified, for which tight bounds for the trace of the covariance matrix can be obtained based on the algebraic properties of the underlying relative measurement graph. The string and the star graph topologies are considered, and the explicit form of the eigenvalues of error covariance matrix is given. More general sensor graph topologies are considered as combinations of the string and star topologies, when additional edges are added. It is demonstrated how the addition of edges increases the trace of the steady-state value of the position error covariance matrix, and the theoretical predictions are verified through simulation analysis.

Risk based lifetime costs assessment of a ground source heat pump (GSHP) system design: Methodology and case study

Space heating accounts for a large portion of the world's carbon dioxide emissions. Ground Source Heat Pumps (GSHPs) are a technology which can reduce carbon emissions from heating and cooling. GSHP system performance is however highly sensitive to deviation from design values of the actual annual energy extraction/rejection rates from/to the ground. In order to prevent failure and/or performance deterioration of GSHP systems it is possible to incorporate a safety factor in the design of the GSHP by over-sizing the ground heat exchanger (GHE). A methodology to evaluate the financial risk involved in over-sizing the GHE is proposed is this paper. A probability based approach is used to evaluate the economic feasibility of a hypothetical full-size GSHP system as compared to four alternative Heating Ventilation and Air Conditioning (HVAC) system configurations. The model of the GSHP system is developed in the TRNSYS energy simulation platform and calibrated with data from an actual hybrid GSHP system installed in the Department of Earth Science, University of Oxford, UK. Results of the analysis show that potential savings from a full-size GSHP system largely depend on projected HVAC system efficiencies and gas and electricity prices. Results of the risk analysis also suggest that a full-size GSHP with auxiliary back up is potentially the most economical system configuration. © 2012 Elsevier Ltd.

POMDP-based statistical spoken dialog systems: A review

Statistical dialog systems (SDSs) are motivated by the need for a data-driven framework that reduces the cost of laboriously handcrafting complex dialog managers and that provides robustness against the errors created by speech recognizers operating in noisy environments. By including an explicit Bayesian model of uncertainty and by optimizing the policy via a reward-driven process, partially observable Markov decision processes (POMDPs) provide such a framework. However, exact model representation and optimization is computationally intractable. Hence, the practical application of POMDP-based systems requires efficient algorithms and carefully constructed approximations. This review article provides an overview of the current state of the art in the development of POMDP-based spoken dialog systems. © 1963-2012 IEEE.

Post-earthquake behaviour of footings employing densification to mitigate liquefaction

In situ densification is a popular technique to protect shallow foundations from the effects of earthquake-induced liquefaction, current design being based on semiempirical rules. Poor understanding of the mechanisms governing the performance of soil-structure systems during and after earthquakes inhibits the use of narrow densified zones, which could contribute to optimise the use of densification if the increase in post-earthquake settlement is restrained. Therefore this paper investigates the long-term behaviour of a footing built on densified ground and surrounded by liquefiable ground, centrifuge experiments being used to identify the mechanisms occurring in the ground during and after a seismic simulation. The differential excess pore pressure generated in the ground during the shaking and the processes of vertical stress concentration and subsequent redistribution observed under the footing dominate the system behaviour. The results enlighten the complex mechanisms determining the post-earthquake settlement when densification is carried out to mitigate liquefaction effects. The improvement in performance resulting from widening the zone of densification is rationally explained which encourages the development of new design concepts that may enhance the future use of densification as a liquefaction resistance measure. © 2007 Thomas Telford Ltd.

Comparing the sustainability of an innovative dry sanitation (Ecosan) system in China to a conventional waterborne sanitation system

The use of sustainability indicators for evaluating sanitation systems is applied to the Erdos Eco- Town Project (EETP) in China for illustration. The EETP is the largest urban settlement in the world employing ecological sanitation, which incorporates separation of waste streams, dry toilets, and resource recovery. The EETP’s dry sanitation system is compared against the Dongsheng District’s conventional sewer and centralised STP. The two systems are compared based on technological, environmental, economic, and societal indicators. Overall, the two systems perform reasonably well from a technological perspective. The conventional system performs significantly better than the dry system with regards to land and energy requirements, and global warming potential; it also performs better based on freshwater aquatic and terrestrial ecotoxicity potentials, but by a smaller margin. The dry system has superior environmental performance based on water consumption, eutrophication potential, and nutrient and organic matter recovery. The dry system is a more costly system as it requires greater infrastructure and higher operational costs, and does not benefit from economies of scale. The waterborne system performs better based on the societal indicators largely because it is a well-established system.

Adaptively modulated optical OFDM modems utilizing RSOAs as intensity modulators in IMDD SMF transmission systems.

Detailed investigations of the transmission performance of adaptively modulated optical orthogonal frequency division multiplexed (AMOOFDM) signals converted using reflective semiconductor optical amplifiers (RSOAs) are undertaken over intensity-modulation and direct-detection (IMDD) single-mode fiber (SMF) transmission systems for WDM-PONs. The theoretical RSOA model adopted for modulating the AMOOFDM signals is experimentally verified rigorously in the aforementioned transmission systems incorporating recently developed real-time end-to-end OOFDM transceivers. Extensive performance comparisons are also made between RSOA and SOA intensity modulators. Optimum RSOA operating conditions are identified, which are independent of RSOA rear-facet reflectivity and very similar to those corresponding to SOAs. Under the identified optimum operating conditions, the RSOA and SOA intensity modulators support the identical AMOOFDM transmission performance of 30Gb/s over 60km SMFs. Under low-cost optical component-enabled practical operating conditions, RSOA intensity modulators with rear-facet reflectivity values of >0.3 outperform considerably SOA intensity modulators in transmission performance, which decreases significantly with reducing RSOA rear-facet reflectivity and optical input power. In addition, results also show that use can be made of the RSOA/SOA intensity modulation-induced negative frequency chirp to improve the AMOOFDM transmission performance in IMDD SMF systems.

7dB optical power budget improvements of optical OFDM PON systems using narrow optical filters

The use of 0.02nm bandwidth optical bandpass filters with 0.01nm wavelength offsets from optical carrier wavelengths in the optical OFDM (OOFDM) transmitter improves optical power budgets by 7dB at a total channel BER of 1×10 -3 in directly modulated laser-based IMDD PON systems. ©2010 Optical Society of America.