Learning joint representations for order and timing of perceptual-motor sequences: a dynamic neural field approach

Many of our everyday tasks require the control of the serial order and the timing of component actions. Using the dynamic neural field (DNF) framework, we address the learning of representations that support the performance of precisely time action sequences. In continuation of previous modeling work and robotics implementations, we ask specifically the question how feedback about executed actions might be used by the learning system to fine tune a joint memory representation of the ordinal and the temporal structure which has been initially acquired by observation. The perceptual memory is represented by a self-stabilized, multi-bump activity pattern of neurons encoding instances of a sensory event (e.g., color, position or pitch) which guides sequence learning. The strength of the population representation of each event is a function of elapsed time since sequence onset. We propose and test in simulations a simple learning rule that detects a mismatch between the expected and realized timing of events and adapts the activation strengths in order to compensate for the movement time needed to achieve the desired effect. The simulation results show that the effector-specific memory representation can be robustly recalled. We discuss the impact of the fast, activation-based learning that the DNF framework provides for robotics applications.

Off-line simulation inspires insight: a neurodynamics approach to efficient robot task learning

There is currently an increasing demand for robots able to acquire the sequential organization of tasks from social learning interactions with ordinary people. Interactive learning-by-demonstration and communication is a promising research topic in current robotics research. However, the efficient acquisition of generalized task representations that allow the robot to adapt to different users and contexts is a major challenge. In this paper, we present a dynamic neural field (DNF) model that is inspired by the hypothesis that the nervous system uses the off-line re-activation of initial memory traces to incrementally incorporate new information into structured knowledge. To achieve this, the model combines fast activation-based learning to robustly represent sequential information from single task demonstrations with slower, weight-based learning during internal simulations to establish longer-term associations between neural populations representing individual subtasks. The efficiency of the learning process is tested in an assembly paradigm in which the humanoid robot ARoS learns to construct a toy vehicle from its parts. User demonstrations with different serial orders together with the correction of initial prediction errors allow the robot to acquire generalized task knowledge about possible serial orders and the longer term dependencies between subgoals in very few social learning interactions. This success is shown in a joint action scenario in which ARoS uses the newly acquired assembly plan to construct the toy together with a human partner.

Combining non-dominance, objective-order and spread metric to extend firefly algorithm to multi-objective optimization

In this paper, we propose an extension of the firefly algorithm (FA) to multi-objective optimization. FA is a swarm intelligence optimization algorithm inspired by the flashing behavior of fireflies at night that is capable of computing global solutions to continuous optimization problems. Our proposal relies on a fitness assignment scheme that gives lower fitness values to the positions of fireflies that correspond to non-dominated points with smaller aggregation of objective function distances to the minimum values. Furthermore, FA randomness is based on the spread metric to reduce the gaps between consecutive non-dominated solutions. The obtained results from the preliminary computational experiments show that our proposal gives a dense and well distributed approximated Pareto front with a large number of points.

A radiofrequency identification system for the 60 GHz ISM band

Dissertação de mestrado integrado em Engenharia Biomédica (área de especialização em Eletrónica Médica)

Conceção técnica e avaliação económica de um veículo solar para venda de produtos refrigerados

Dissertação de mestrado integrado em Engenharia Mecânica

A novel small-caliber bacterial cellulose vascular prosthesis: production, characterization, and preliminary in vivo testing

Vascular grafts are used to bypass damaged or diseased blood vessels. Bacterial cellulose (BC) has been studied for use as an off-the-shelf graft. Herein, we present a novel, cost-effective, method for the production of small caliber BC grafts with minimal processing or requirements. The morphology of the graft wall produced a tensile strength above that of native vessels, performing similarly to the current commercial alternatives. As a result of the production method, the luminal surface of the graft presents similar topography to that of native vessels. We have also studied the in vivo behavior of these BC graft in order to further demonstrate their viability. In these preliminary studies, 1 month patency was achieved, with the presence of neo-vessels and endothelial cells on the luminal surface of the graft.

Measurement of the correlation between flow harmonics of different order in lead-lead collisions at root S-NN=2.76 TeV with the ATLAS detector

Correlations between the elliptic or triangular flow coefficients vm (m=2 or 3) and other flow harmonics vn (n=2 to 5) are measured using sNN−−−−√=2.76 TeV Pb+Pb collision data collected in 2010 by the ATLAS experiment at the LHC, corresponding to an integrated lumonisity of 7 μb−1. The vm-vn correlations are measured in midrapidity as a function of centrality, and, for events within the same centrality interval, as a function of event ellipticity or triangularity defined in a forward rapidity region. For events within the same centrality interval, v3 is found to be anticorrelated with v2 and this anticorrelation is consistent with similar anticorrelations between the corresponding eccentricities ϵ2 and ϵ3. On the other hand, it is observed that v4 increases strongly with v2, and v5 increases strongly with both v2 and v3. The trend and strength of the vm-vn correlations for n=4 and 5 are found to disagree with ϵm-ϵn correlations predicted by initial-geometry models. Instead, these correlations are found to be consistent with the combined effects of a linear contribution to vn and a nonlinear term that is a function of v22 or of v2v3, as predicted by hydrodynamic models. A simple two-component fit is used to separate these two contributions. The extracted linear and nonlinear contributions to v4 and v5 are found to be consistent with previously measured event-plane correlations.

Development of advanced cell/tissue culture systems, based on enhanced polymeric scaffolds and sophisticated bioreactors, for tissue engineering applications

Programa Doutoral em Engenharia Biomédica

O direito de livre revogação nos contratos celebrados à distância e fora do estabelecimento comercial

Dissertação de mestrado em Direito dos Contratos e da Empresa

The Pope’s encyclical as a call for democratic social change

(Excerto) By addressing the ideologies and practices of the social dynamics entwined with climate change, the encyclical exposes the profoundly political character of global environmental change and its connection with economics and culture. The publication of the encyclical is action in the public space via language oriented to persuasion which, in Hannah Arendt’s terms, is the very essence of politics.

A modernidade para além da utopia tecnológica

Dissertação de mestrado em Ciências da Comunicação (área de especialização em Comunicação, Cidadania e Educação)

A teoria ideal da justiça num mundo não ideal

Dissertação de mestrado em Filosofia (área de especialização em Filosofia Política)

Catalogus Plantarum :tum exotiarum tum domesticarum, quae in hortis haud procul a Londino sitis in venditionem propagantur = A Catalogue of trees, shrubs, plants, and flowers, both exotic and domestic, which are propagated for sale, in the gardens near London :divided, accorded to their different degrees of hardiness, into particular books, or parts; in each of which the plants are ranged in an alphabetical order. by a Society of Gardeners

1730

Manipulación acustica del orden y dinámica molecular en estructuras mesomorficas de organización lamelar. Acoustic manipulation of molecular order and dynamics in mesomorphic structures of lamellar organization.

El control de propiedades hidrodinámicas capaces de influir en la mecánica de ruptura y poración de sistemas lamelares o membranas es de fundamental interés para diferentes aplicaciones biotecnológicas. Resulta de particular interés la conexión entre los procesos microscópicos relacionados al tipo de moléculas o unidades básicas, el orden determinado en el auto-ensamblado de las mismas y la dinámica local del sistema, con las propiedades físicas que determinan el comportamiento macroscópico bajo estimulación acústica. Resultados logrados recientemente sugieren la existencia de resonancias hidrodinámicas que podrian ser utilizadas para lograr la inestabilidad del sistema a baja potencia acústica. Se realizaran estudios experimentales utilizando principalmente técnicas que combinan resonancia magnética nuclear (RMN) y la sonicación de la muestra. También se realizarán estudios teóricos y simulaciones numéricas que permitan modelar los sistemas bajo estudio. Se propone dar continuidad al desarrollo de una técnica de relaxometría magnética nuclear en la cual se estimula acústicamente a la muestra durante el proceso de relajación magnética nuclear, y continuar la implementación de técnicas de RMN con resolución espacial que permitan complementar los estudios mencionados. Se espera comprender los mecanismos físicos que determinan la estabilidad de fases lamelares, logrando un modelo verificable y consistente que permita relacionar las propiedades mecánicas e hidrodinámicas con las propiedades de orden y dinámica molecular. Asimismo, se espera lograr avances en el desarrollo de las técnicas experimentales involucradas. La importancia del proyecto radica en el enfoque del problema. A diferencia de casi la totalidad de los estudios reportados, nuestro interés se enfoca en mecanismos de interacción entre la membrana y el campo acústico que sean eficientes a baja potencia acústica, en un régimen donde los gradientes térmicos y la cavitación sean despreciables.

Age, growth and population dynamics of lemon sole Microstomus kitt (Walbaum 1792) sampled off the West Coast of Ireland

The age, growth, maturity and population dynamics of lemon sole (Microstomus kitt), captured off the west coast of Ireland (ICES division Vllb), were determined for the period November 2000 to February 2002. The maximum age recorded was 14 years. Males of the population were dominated by 4 year olds, while females were dominated by 5 year olds. Females dominated the sex ratio in the overall sample, each month sampled, at each age and from 22cm in total length onwards (when N > 20). Possible reasons for the dominance of females in the sex ratio are discussed. Three models were used to obtain the parameters of the von Bertalanfly growth equation. These were the Ford-Walford plot (Beverton and Holt 1957), the Gulland and Holt plot (1959) and the Rafail (1973) method. Results of the fitted von Bertalanffy growth curves showed that female lemon sole o f f the west coast of Ireland grew faster than males and attained a greater size. Male and female lemon sole mature from 2 years of age onwards. There is evidence in the population o f a smaller asymptotic length (L«, = 34.47cm), faster growth rate (K = 0.1955) and younger age at first maturity, all of which are indicative o f a decrease in population size, when present results are compared to data collected in the same area 22 years earlier. Results of the yield per recruit curve indicate that lemon sole are currently being over-fished o f f the west coast of Ireland. Problems of selectivity within the sampling method, particularly at the discarding stage, may have influenced the outcome of results of the models used in the assessment of this stock. Therefore, additional/future work on this species should include catch data which incorporates discards and not landings data alone.