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.

Cylindrically symmetric models of gravitational collapse to black holes: a short review

We survey results about exact cylindrically symmetric models of gravitational collapse in General Relativity. We focus on models which result from the matching of two spacetimes having collapsing interiors which develop trapped surfaces and vacuum exteriors containing gravitational waves. We collect some theorems from the literature which help to decide a priori about eventual spacetime matchings. We revise, in more detail, some toy models which include some of the main mathematical and physical issues that arise in this context, and compute the gravitational energy flux through the matching boundary of a particular collapsing region. Along the way, we point out several interesting open problems.

Fum i miralls: trobant l'ordre en un món caòtic

El calidoscopi és una joguina que converteix fragments de vidre acolorit en patrons infinitament variats mitjançant l'ús de miralls. Hi ha quelcom satisfactori en els patrons –els necessitem per crear significat, i trobem bellesa en la seva simetria. No obstant, els sistemes complexos desobeeixen les fórmules simples. Per exemple, és impossible descriure una cosa tan prosaica com el comportament del fum mentre ascendeix fent servir les matemàtiques clàssiques. Agafant en préstec idees de diferents disciplines, podem considerar l'alfabetització informacional com una invitació per als nostres estudiants per jugar amb la imprevisible varietat de l'experiència humana i descobrir patrons que els resultin plens de significat.

« Les Remedes de l'une et l'autre fortune », de « maistre FRANÇOYS PETRARCHE ».

Traduction. commençant par : « Prologue ou preface du translateur de ce present livre. Combien que la commune oppinion des docteurs de l'Eglise et autres philozophes... » et finissant par : «... et laisse tel soing et cure à ceulx qui vivront apres toy. Cy finist le second livre, où il est disputé de fortune adverse »

« Les Remedes de l'une et l'autre fortune », de « maistre FRANÇOYS PETRARCHE ».

Traduction. commençant par : « Prologue ou preface du translateur de ce present livre. Combien que la commune oppinion des docteurs de l'Eglise et autres philozophes... » et finissant par : «... et laisse tel soing et cure à ceulx qui vivront apres toy. Cy finist le second livre, où il est disputé de fortune adverse »

¶ LE DOVBLE DES LETTRES || Que le || grant Turc Escript a mõsieur le grãt mai || stre de Rodes Enuiron la sainct Iehan/ lã mil || ccccc. xxij Auec vne. epistre de la Cite de Rodes || enuoyee A la Saincte foy Catolicque. — [A la fin :] ¶ Compose par songeur dit bethune, herault darmes || de lempereur Charles daustrice pour Anthoine mẽ || bre libraire qui fait le libraire. || Cum Preuilegio. In-4 goth. de 4 f. non chiffr. dont la page la plus pleine a 31 lignes, impr. en grosses lettres de forme, sans sign., mar. r. jans., tr. dor. (Trautz-Bauzonnet.)

Ladam (Nicaise). Epistre de la cité de Rodes (1522)

Are Voting Advice Applications (VVAs) more than Toys ? : First findings on Impact and Accountability of VAAs

To what extent do Voting Advice Applications (VAA) have an influence on voting behaviour and to what extent should providers be hold accountable for such tools? This paper puts forward some empirical evidence from the Swiss VAA smartvote. The enormous popularity of smartvote in the last national elections in 2007 and the feedback of users and candidates let us come to the conclusion that smartvote is more than a toy and likely to have an influence on the voting decisions. Since Swiss citizens not only vote for parties but also for candidates, and the voting recommendation of smartvote is based on the political positions of the candidates, smartvote turns out to be particularly helpful. Political scientists must not keep their hands off such tools. Scientific research is needed to understand their functioning and possibilities to manipulate elections. On the bases of a legal study we come to the conclusion, that a science driven way of setting up such tools is essential for their legitimacy. However, we do not believe that there is a single best way of setting up such a tool and rather support a market like solution with different competing tools, provided they meet minimal standards like transparency and equal access for all parties and candidates. Once the process of selecting candidates and parties are directly linked to the act of voting, all these questions will become even more salient.

Marker-free phase nanoscopy

We introduce a microscopic method that determines quantitative optical properties beyond the optical diffraction limit and allows direct imaging of unstained living biological specimens. In established holographic microscopy, complex fields are measured using interferometric detection, allowing diffraction-limited phase measurements. Here, we show that non-invasive optical nanoscopy can achieve a lateral resolution of 90 nm by using a quasi-2 pi-holographic detection scheme and complex deconvolution. We record holograms from different illumination directions on the sample plane and observe subwavelength tomographic variations of the specimen. Nanoscale apertures serve to calibrate the tomographic reconstruction and to characterize the imaging system by means of the coherent transfer function. This gives rise to realistic inverse filtering and guarantees true complex field reconstruction. The observations are shown for nanoscopic porous cell frustule (diatoms), for the direct study of bacteria (Escherichia coil), and for a time-lapse approach to explore the dynamics of living dendritic spines (neurones).

Les Biblioteques per a infants malalts als hospitals: a la recerca d'un espai propi

Les "Pautas para bibliotecas al servicio de pacientes de hospital, ancianos y discapacitados en centros de atención de larga duración" elaborades per l'IFLA són el marc normatiu de les biblioteques per a pacients. La seva existència, però, no garanteix el seu compliment; és per això que trobem realitats ben diverses, des dels hospitals que les reinterpreten i adeqüen a les seves necessitats i mitjans fins als que les ignoren o les desconeixen. En aquesta comunicació farem un recorregut per diverses alternatives o interpretacions als espais hospitalaris dedicats tant a l'oci com a la informació dels pacients en un context internacional. Es conclou que la biblioteca per a pacients és un servei en si mateix i es reivindica com un servei més al qual el malalt té dret.

Determination of anomalies in supersymmetric theories

We develop an efficient technique to compute anomalies in supersymmetric theories by combining the so-called nonlocal regularization method and superspace techniques. To illustrate the method we apply it to a four-dimensional toy model with potentially anomalous N=1 supersymmetry and prove explicitly that in this model all the candidate supersymmetry anomalies have vanishing coefficients at the one-loop level.

Disordered backgammon model

In this paper we consider an exactly solvable model that displays glassy behavior at zero temperature due to entropic barriers. The new ingredient of the model is the existence of different energy scales or modes associated with different relaxational time scales. Low-temperature relaxation takes place by partial equilibration of successive lower-energy modes. An adiabatic scaling solution, defined in terms of a threshold energy scale e*, is proposed. For such a solution, modes with energy ee* are equilibrated at the bath temperature, modes with ee* remain out of equilibrium, and relaxation occurs in the neighborhood of the threshold e~e*. The model is presented as a toy example to investigate the conditions related to the existence of an effective temperature in glassy systems and its possible dependence on the energy sector is probed by the corresponding observable.

Relaciones de complacencia y deberes para con los invitados

En la STS, 1a, 17.7.2007 (RJ 2007\4895, MP: Francisco Marín Castán), el Tribunal Supremo sostiene que los daños que sufre una amiga de los demandados en el inmueble de éstos al tropezar con un juguete abandonado en el suelo del pasillo, insuficientemente iluminado, no son indemnizables, porque dada la especial relación de confianza entre las partes, ese nivel extremo de diligencia no es exigible. El Tribunal parece aplicar al caso un patrón de diligencia quam in suis, la que despliega uno en sus propios asuntos, que permitiría limitar la responsabilidad a los casos de dolo o culpa grave. El trabajo comenta la sentencia y presenta, además, la clasificación entre invitee, licensee y trespasser que el Common Law norteamericano ha utilizado tradicionalmente para delimitar los niveles de cuidado de propietarios (o poseedores) de inmuebles y que el borrador No. 6 del Restatement (Third) of Torts, de 12.9.2007, ha simplificado, añadiendo a la regla tradicional de No Duty to Trespasser la de una negligencia simple para los Innocent Trespasser.

Dilaton quantum cosmology in two dimensions

We consider a renormalizable two-dimensional model of dilaton gravity coupled to a set of conformal fields as a toy model for quantum cosmology. We discuss the cosmological solutions of the model and study the effect of including the back reaction due to quantum corrections. As a result, when the matter density is below some threshold new singularities form in a weak-coupling region, which suggests that they will not be removed in the full quantum theory. We also solve the Wheeler-DeWitt equation. Depending on the quantum state of the Universe, the singularities may appear in a quantum region where the wave function is not oscillatory, i.e., when there is not a well-defined notion of classical spacetime.

Análise exploratória rápida e não destrutiva (screening) da presença de elementos químicos tóxicos em material escolar por fluorescência de raios x

Compulsory in Brazil, toy certification aims to prevent possible risks in toy use. The Brazilian National Institute of Metrology (INMETRO) establishes the maximum concentration of toxic elements (TE) that may be present in toys. This study evaluates the presence of TE in different crayons, gouache and modeling clays using X-ray fluorescence. This technique is fast, has low operating cost and minimum sample pretreatment, resulting in a clean procedure without reagent consumption and waste generation. Bromine (in gouache) and Barium (in crayons) were the only potentially TE identified in the samples studied.

Subluxação atlantoaxial em 14 cães (2003-2008)

O objetivo deste trabalho foi realizar um estudo retrospectivo dos casos de subluxação atlantoaxial em cães, por meio de consulta dos registros neurológicos do Hospital Veterinário Universitário (HVU), entre os anos de 2003 e 2008. Foram identificados a raça, o sexo, a idade, a etiologia, os sinais neurológicos, a duração dos sinais clínicos, o tratamento empregado, a resposta ao tratamento, o tempo de recuperação, a recidiva e a relação entre a duração dos sinais clínicos e a recuperação pós-operatória. Foram feitos o diagnóstico de subluxação atlantoaxial em 14 cães, sendo as raças Poodle (35,7%), Pinscher (21,4%) e Yorkshire Terrier (21,4%) as mais acometidas e a maioria (92,8%) com idade inferior a 24 meses. A principal causa da instabilidade foi a agenesia do processo odontoide do áxis (71,4%) e os sinais clínicos variaram desde hiperestesia cervical até tetraparesia não ambulatória. O tratamento predominante foi o cirúrgico, que demonstrou ser eficaz com recuperação satisfatória em 90% dos casos e menor possibilidade de recidiva, quando comparado ao trata,mento clínico. O tempo de recuperação predominante foi de 30-60 dias após a cirurgia, não existindo relação deste com a duração dos sinais clínicos.