Motor Control and Learning by the State Space Model

A model is presented that deals with problems of motor control, motor learning, and sensorimotor integration. The equations of motion for a limb are parameterized and used in conjunction with a quantized, multi-dimensional memory organized by state variables. Descriptions of desired trajectories are translated into motor commands which will replicate the specified motions. The initial specification of a movement is free of information regarding the mechanics of the effector system. Learning occurs without the use of error correction when practice data are collected and analyzed.

On Motion Planning with Uncertainty

Robots must successfully plan and execute tasks in the presence of uncertainty. Uncertainty arises from errors in modeling, sensing, and control. Planning in the presence of uncertainty constitutes one facet of the general motion planning problem in robotics. This problem is concerned with the automatic synthesis of motion strategies from high level task specification and geometric models of environments. In order to develop successful motion strategies, it is necessary to understand the effect of uncertainty on the geometry of object interactions. Object interactions, both static and dynamic, may be represented in geometrical terms. This thesis investigates geometrical tools for modeling and overcoming uncertainty. The thesis describes an algorithm for computing backprojections o desired task configurations. Task goals and motion states are specified in terms of a moving object's configuration space. Backprojections specify regions in configuration space from which particular motions are guaranteed to accomplish a desired task. The backprojection algorithm considers surfaces in configuration space that facilitate sliding towards the goal, while avoiding surfaces on which motions may prematurely halt. In executing a motion for a backprojection region, a plan executor must be able to recognize that a desired task has been accomplished. Since sensors are subject to uncertainty, recognition of task success is not always possible. The thesis considers the structure of backprojection regions and of task goals that ensures goal recognizability. The thesis also develops a representation of friction in configuration space, in terms of a friction cone analogous to the real space friction cone. The friction cone provides the backprojection algorithm with a geometrical tool for determining points at which motions may halt.

Uso da linguagem de especificação SDL como alternativa ao diagrama de estados proposto pela linguagem UML.

Linguagem UML. Fase do projeto na UML: o diagrama de estados. Linguagem SDL. Comparação entre as duas técnicas apresentadas.

Building with Scottish Stone.

Building with Scottish Stone aims to encourage more use of stone sourced from Scotland’s working quarries and to provide a better understanding of those mineralogical properties which give each stone its distinctive quality. The nation’s architectural history is synonymous with the use of natural stone, and the principles of construction developed over generations in response to Scotland’s particular climatic conditions still find relevance today in the design and detailing of new buildings. Equally, an understanding of the ways in which stone is extracted and processed is as fundamental to its contemporary use as having up-to-date knowledge of the continuously changing legislation that affects its specification and procurement. Building with Scottish Stone is a stimulating introduction to these and many other factors to be considered when using this richly-varied and timeless resource in the design of new buildings.

Introduction to logical information systems

Ridoux, O. and Ferr?, S. (2004) Introduction to logical information systems. Information Processing & Management, 40 (3), 383-419. Elsevier

NHS Wales user needs study including knowledgebase tools report. Report for Informing Healthcare Strategy implementation programme.

Thomas, R., Spink, S., Durbin, J. & Urquhart, C. (2005). NHS Wales user needs study including knowledgebase tools report. Report for Informing Healthcare Strategy implementation programme. Aberystwyth: Department of Information Studies, University of Wales Aberystwyth. Sponsorship: Informing Healthcare, NHS Wales

Animated virtual agents to cue user attention: comparison of static and dynamic deictic cues on gaze and touch responses

This paper describes an experiment developed to study the performance of virtual agent animated cues within digital interfaces. Increasingly, agents are used in virtual environments as part of the branding process and to guide user interaction. However, the level of agent detail required to establish and enhance efficient allocation of attention remains unclear. Although complex agent motion is now possible, it is costly to implement and so should only be routinely implemented if a clear benefit can be shown. Pevious methods of assessing the effect of gaze-cueing as a solution to scene complexity have relied principally on two-dimensional static scenes and manual peripheral inputs. Two experiments were run to address the question of agent cues on human-computer interfaces. Both experiments measured the efficiency of agent cues analyzing participant responses either by gaze or by touch respectively. In the first experiment, an eye-movement recorder was used to directly assess the immediate overt allocation of attention by capturing the participant’s eyefixations following presentation of a cueing stimulus. We found that a fully animated agent could speed up user interaction with the interface. When user attention was directed using a fully animated agent cue, users responded 35% faster when compared with stepped 2-image agent cues, and 42% faster when compared with a static 1-image cue. The second experiment recorded participant responses on a touch screen using same agent cues. Analysis of touch inputs confirmed the results of gaze-experiment, where fully animated agent made shortest time response with a slight decrease on the time difference comparisons. Responses to fully animated agent were 17% and 20% faster when compared with 2-image and 1-image cue severally. These results inform techniques aimed at engaging users’ attention in complex scenes such as computer games and digital transactions within public or social interaction contexts by demonstrating the benefits of dynamic gaze and head cueing directly on the users’ eye movements and touch responses.

The paradox of using tacit and explicit knowledge: Strategies to face dilemnas

Jasimuddin, Sajjad, Klein, Jonathan, and Connell, Con, 'The paradox of using tacit and explicit knowledge: Strategies to face dilemnas', Management Decision (2005) 43(1) pp.102-112 RAE2008

Multimodal lexicography: The representation of meaning in electronic dictionaries

One finding of user studies is that information on meaning tends to be what diction¬ary users want most from their dictionaries. This is consistent with the traditional image of the dictionary as a repository of meanings of words, and this is also borne out in definitions of the item DICTIONARY itself as given in dictionaries. While this popular view has not changed much, the growing role of electronic dictionaries can change the lexicographers' approach to meaning repre¬sentation. Traditionally, paper dictionaries have explained words with words, using either a defi¬nition or an equivalent, and occasionally a line-drawn picture. However, a prominent feature of the electronic medium is its multimodality, and this offers potential for the description of meaning. While it is much easier to include pictorial content, electronic dictionaries can also hold media objects which paper cannot carry, such as audio, animation or video. Publishers are drawn by the attraction of these new options, but are they always functionally useful for the dictionary users? In this article, the existing evidence is examined, and informed guesses are offered where evidence is not yet available.

Cancro oral

Projeto de Pós-Graduação/Dissertação apresentado à Universidade Fernando Pessoa como parte dos requisitos para obtenção do grau de Mestre em Medicina Dentária

Building Responsive Systems from Physically-correct Specifications

Predictability - the ability to foretell that an implementation will not violate a set of specified reliability and timeliness requirements - is a crucial, highly desirable property of responsive embedded systems. This paper overviews a development methodology for responsive systems, which enhances predictability by eliminating potential hazards resulting from physically-unsound specifications. The backbone of our methodology is the Time-constrained Reactive Automaton (TRA) formalism, which adopts a fundamental notion of space and time that restricts expressiveness in a way that allows the specification of only reactive, spontaneous, and causal computation. Using the TRA model, unrealistic systems - possessing properties such as clairvoyance, caprice, in finite capacity, or perfect timing - cannot even be specified. We argue that this "ounce of prevention" at the specification level is likely to spare a lot of time and energy in the development cycle of responsive systems - not to mention the elimination of potential hazards that would have gone, otherwise, unnoticed. The TRA model is presented to system developers through the CLEOPATRA programming language. CLEOPATRA features a C-like imperative syntax for the description of computation, which makes it easier to incorporate in applications already using C. It is event-driven, and thus appropriate for embedded process control applications. It is object-oriented and compositional, thus advocating modularity and reusability. CLEOPATRA is semantically sound; its objects can be transformed, mechanically and unambiguously, into formal TRA automata for verification purposes, which can be pursued using model-checking or theorem proving techniques. Since 1989, an ancestor of CLEOPATRA has been in use as a specification and simulation language for embedded time-critical robotic processes.

An Ounce of Prevention is Worth a Pound of Cure: Towards Physically-Correct Specifications of Embedded Real-Time Systems

Predictability — the ability to foretell that an implementation will not violate a set of specified reliability and timeliness requirements - is a crucial, highly desirable property of responsive embedded systems. This paper overviews a development methodology for responsive systems, which enhances predictability by eliminating potential hazards resulting from physically-unsound specifications. The backbone of our methodology is a formalism that restricts expressiveness in a way that allows the specification of only reactive, spontaneous, and causal computation. Unrealistic systems — possessing properties such as clairvoyance, caprice, infinite capacity, or perfect timing — cannot even be specified. We argue that this "ounce of prevention" at the specification level is likely to spare a lot of time and energy in the development cycle of responsive systems - not to mention the elimination of potential hazards that would have gone, otherwise, unnoticed.

OS Support for Portable Bulk Synchronous Parallel Programs

Predictability -- the ability to foretell that an implementation will not violate a set of specified reliability and timeliness requirements -- is a crucial, highly desirable property of responsive embedded systems. This paper overviews a development methodology for responsive systems, which enhances predictability by eliminating potential hazards resulting from physically-unsound specifications. The backbone of our methodology is the Time-constrained Reactive Automaton (TRA) formalism, which adopts a fundamental notion of space and time that restricts expressiveness in a way that allows the specification of only reactive, spontaneous, and causal computation. Using the TRA model, unrealistic systems – possessing properties such as clairvoyance, caprice, infinite capacity, or perfect timing -- cannot even be specified. We argue that this "ounce of prevention" at the specification level is likely to spare a lot of time and energy in the development cycle of responsive systems -- not to mention the elimination of potential hazards that would have gone, otherwise, unnoticed. The TRA model is presented to system developers through the Cleopatra programming language. Cleopatra features a C-like imperative syntax for the description of computation, which makes it easier to incorporate in applications already using C. It is event-driven, and thus appropriate for embedded process control applications. It is object-oriented and compositional, thus advocating modularity and reusability. Cleopatra is semantically sound; its objects can be transformed, mechanically and unambiguously, into formal TRA automata for verification purposes, which can be pursued using model-checking or theorem proving techniques. Since 1989, an ancestor of Cleopatra has been in use as a specification and simulation language for embedded time-critical robotic processes.

Examples of Network Flow Verification Using TRAFFIC(X)

In our previous work, we developed TRAFFIC(X), a specification language for modeling bi-directional network flows featuring a type system with constrained polymorphism. In this paper, we present two ways to customize the constraint system: (1) when using linear inequality constraints for the constraint system, TRAFFIC(X) can describe flows with numeric properties such as MTU (maximum transmission unit), RTT (round trip time), traversal order, and bandwidth allocation over parallel paths; (2) when using Boolean predicate constraints for the constraint system, TRAFFIC(X) can describe routing policies of an IP network. These examples illustrate how to use the customized type system.

Gismo: A Generator of Internet Streaming Media Objects and Workloads

This paper presents a tool called Gismo (Generator of Internet Streaming Media Objects and workloads). Gismo enables the specification of a number of streaming media access characteristics, including object popularity, temporal correlation of request, seasonal access patterns, user session durations, user interactivity times, and variable bit-rate (VBR) self-similarity and marginal distributions. The embodiment of these characteristics in Gismo enables the generation of realistic and scalable request streams for use in the benchmarking and comparative evaluation of Internet streaming media delivery techniques. To demonstrate the usefulness of Gismo, we present a case study that shows the importance of various workload characteristics in determining the effectiveness of proxy caching and server patching techniques in reducing bandwidth requirements.