A Self-Organizing Neural Model of Motor Equivalent Reaching and Tool Use by a Multijoint Arm

This paper describes a self-organizing neural model for eye-hand coordination. Called the DIRECT model, it embodies a solution of the classical motor equivalence problem. Motor equivalence computations allow humans and other animals to flexibly employ an arm with more degrees of freedom than the space in which it moves to carry out spatially defined tasks under conditions that may require novel joint configurations. During a motor babbling phase, the model endogenously generates movement commands that activate the correlated visual, spatial, and motor information that are used to learn its internal coordinate transformations. After learning occurs, the model is capable of controlling reaching movements of the arm to prescribed spatial targets using many different combinations of joints. When allowed visual feedback, the model can automatically perform, without additional learning, reaches with tools of variable lengths, with clamped joints, with distortions of visual input by a prism, and with unexpected perturbations. These compensatory computations occur within a single accurate reaching movement. No corrective movements are needed. Blind reaches using internal feedback have also been simulated. The model achieves its competence by transforming visual information about target position and end effector position in 3-D space into a body-centered spatial representation of the direction in 3-D space that the end effector must move to contact the target. The spatial direction vector is adaptively transformed into a motor direction vector, which represents the joint rotations that move the end effector in the desired spatial direction from the present arm configuration. Properties of the model are compared with psychophysical data on human reaching movements, neurophysiological data on the tuning curves of neurons in the monkey motor cortex, and alternative models of movement control.

The What-And-Where Filter: A Spatial Mapping Neural Network for Object Recognition and Image Understanding

The What-and-Where filter forms part of a neural network architecture for spatial mapping, object recognition, and image understanding. The Where fllter responds to an image figure that has been separated from its background. It generates a spatial map whose cell activations simultaneously represent the position, orientation, ancl size of all tbe figures in a scene (where they are). This spatial map may he used to direct spatially localized attention to these image features. A multiscale array of oriented detectors, followed by competitve and interpolative interactions between position, orientation, and size scales, is used to define the Where filter. This analysis discloses several issues that need to be dealt with by a spatial mapping system that is based upon oriented filters, such as the role of cliff filters with and without normalization, the double peak problem of maximum orientation across size scale, and the different self-similar interpolation properties across orientation than across size scale. Several computationally efficient Where filters are proposed. The Where filter rnay be used for parallel transformation of multiple image figures into invariant representations that are insensitive to the figures' original position, orientation, and size. These invariant figural representations form part of a system devoted to attentive object learning and recognition (what it is). Unlike some alternative models where serial search for a target occurs, a What and Where representation can he used to rapidly search in parallel for a desired target in a scene. Such a representation can also be used to learn multidimensional representations of objects and their spatial relationships for purposes of image understanding. The What-and-Where filter is inspired by neurobiological data showing that a Where processing stream in the cerebral cortex is used for attentive spatial localization and orientation, whereas a What processing stream is used for attentive object learning and recognition.

Criminalisation and normative theory

Criminal law scholarship is enjoying a renaissance in normative theory, evident in a growing list of publications from leading scholars that attempt to elucidate a set of principles on which criminalisation and criminal law might — indeed should — be based. This development has been less marked in Australia, where a stream of criminologically influenced criminal law scholarship, teaching and practice has emerged over nearly three decades. There are certain tensions between this predominantly contextual, process-oriented and criminological tradition that has emerged in Australia, characterised by a critical approach to the search for ‘general principles’ of the criminal law, and the more recent revival of interest in developing a set of principles on which a ‘normative theory of criminal law’ might be founded. Aspects of this tension will be detailed through examination of recent examples of criminalisation in New South Wales that are broadly representative of trends across all Australian urisdictions. The article will then reflect on the links between these particular features of criminalisation and attempts to develop a ‘normative theory’ of criminalisation.

Helsingin Östersundomin pienvesien kartoitus

The area of Östersundom (29,1 square kilometers) was attached to Helsinki in the beginning of the year 2009. Östersundom is formed mostly from the municipality of Sipoo, and partly from the city of Vantaa. Nowadays Östersundom is still quite rural, but city planning has already started, and there are plans to develop Östersundom into a district with 45 000 inhabitants. In this study, the headwaters, streams and small lakes of Östersundom were studied to produce information as a basis for city planning. There are six main streams and five small lakes in Östersundom. The main methodology used in this study was the examination of the physical and the chemical quality of the water. The hygienic quality of the water was also studied. It was also examined whether the waters are in their natural state, or have they been treated and transformed by man. In addition, other factors affecting the waters were examined. Geographical information data was produced as a result of this work. Östersundom is the main area looked at in this study, some factors are examined in the scope of the catchment areas. Water samples were collected in three sampling periods: 31.8 4.9.2009, 3. 4.2.2010, and 10. 14.4.2010. There were 20 sampling points in Östersundom (5 in small lakes, 15 in streams). In the winter sampling period, only six samples were collected, from which one was taken from a small lake. Field measurements associated with water sampling included water temperature, oxygen concentration, pH and electoral conductivity. Water samples were analyzed in the Laboratories of Physical Geography in the University of Helsinki for the following properties: total suspended solids (TSS), total dissolved substances (TDS), organic matter, alkalinity, colour, principal anions and cations and trace elements. Metropolilab analyzed the amount of faecal coliform bacteria in the samples. The waters in Östersundom can be divided to three classes according to water quality and other characteristics: the upper course of the streams, the lower course of the streams and the small lakes. The streams in their upper course are in general acidic, and their acid neutralization capacity is low. The proportion of the organic matter is high. Also the concentrations of aluminium and iron tend to be high. The streams in the lower course have acidity closer to neutral, and the buffering capacity is good. The amounts of TSS and TDS are high, and as a result, the concentrations of many ions and trace elements are high as well. Bacteria were detected at times in the streams of the lower course. Four of the five small lakes in Östersundom are humic and acidic. TSS and TDS concentrations tend to be low, but the proportion of organic matter is often high. There were no bacteria in the small lakes. The fifth small lake (Landbonlampi) differs from the others by its water colour, which is very clear. This lake is very acidic, and its buffering capacity is extremely low. Compared to the headwaters in Finland in general, the concentrations of many ions and trace elements are higher in Östersundom. On the other hand, the characteristics of water were different according to the classification upper course streams, lower course streams, and small lakes. Generally, the best water quality was observed in the stream of Gumbölenpuro and in the lakes Storträsk, Genaträsk, Hältingträsk and Landbonlampi. Several valuable waters in their natural state were discovered from the area. The most representative example is the stream of Östersundominpuro in its lower course, where the stream flows through a broad-leaf forest area. The small lakes of Östersundom, and the biggest stream Krapuoja, with its meandering channel, are also valuable in their natural state.

A dynamical instability due to fluid–wall coupling lowers the transition Reynolds number in the flow through a flexible tube

A flow-induced instability in a tube with flexible walls is studied experimentally. Tubes of diameter 0.8 and 1.2 mm are cast in polydimethylsiloxane (PDMS) polymer gels, and the catalyst concentration in these gels is varied to obtain shear modulus in the range 17–550 kPa. A pressure drop between the inlet and outlet of the tube is used to drive fluid flow, and the friction factor $f$ is measured as a function of the Reynolds number $Re$. From these measurements, it is found that the laminar flow becomes unstable, and there is a transition to a more complicated flow profile, for Reynolds numbers as low as 500 for the softest gels used here. The nature of the $f$–$Re$ curves is also qualitatively different from that in the flow past rigid tubes; in contrast to the discontinuous increase in the friction factor at transition in a rigid tube, it is found that there is a continuous increase in the friction factor from the laminar value of $16\ensuremath{/} Re$ in a flexible tube. The onset of transition is also detected by a dye-stream method, where a stream of dye is injected into the centre of the tube. It is found that there is a continuous increase of the amplitude of perturbations at the onset of transition in a flexible tube, in contrast to the abrupt disruption of the dye stream at transition in a rigid tube. There are oscillations in the wall of the tube at the onset of transition, which is detected from the laser scattering off the walls of the tube. This indicates that the coupling between the fluid stresses and the elastic stresses in the wall results in an instability of the laminar flow.

Dense shallow granular flows

Simplified equations are derived for a granular flow in the `dense' limit where the volume fraction is close to that for dynamical arrest, and the `shallow' limit where the stream-wise length for flow development (L) is large compared with the cross-stream height (h). The mass and diameter of the particles are set equal to 1 in the analysis without loss of generality. In the dense limit, the equations are simplified by taking advantage of the power-law divergence of the pair distribution function chi proportional to (phi(ad) - phi)(-alpha), and a faster divergence of the derivativ rho(d chi/d rho) similar to (d chi/d phi), where rho and phi are the density and volume fraction, and phi(ad) is the volume fraction for arrested dynamics. When the height h is much larger than the conduction length, the energy equation reduces to an algebraic balance between the rates of production and dissipation of energy, and the stress is proportional to the square of the strain rate (Bagnold law). In the shallow limit, the stress reduces to a simplified Bagnold stress, where all components of the stress are proportional to (partial derivative u(x)/partial derivative y)(2), which is the cross-stream (y) derivative of the stream-wise (x) velocity. In the simplified equations for dense shallow flows, the inertial terms are neglected in the y momentum equation in the shallow limit because the are O(h/L) smaller than the divergence of the stress. The resulting model contains two equations, a mass conservation equations which reduces to a solenoidal condition on the velocity in the incompressible limit, and a stream-wise momentum equation which contains just one parameter B which is a combination of the Bagnold coefficients and their derivatives with respect to volume fraction. The leading-order dense shallow flow equations, as well as the first correction due to density variations, are analysed for two representative flows. The first is the development from a plug flow to a fully developed Bagnold profile for the flow down an inclined plane. The analysis shows that the flow development length is ((rho) over barh(3)/B) , where (rho) over bar is the mean density, and this length is numerically estimated from previous simulation results. The second example is the development of the boundary layer at the base of the flow when a plug flow (with a slip condition at the base) encounters a rough base, in the limit where the momentum boundary layer thickness is small compared with the flow height. Analytical solutions can be found only when the stream-wise velocity far from the surface varies as x(F), where x is the stream-wise distance from the start of the rough base and F is an exponent. The boundary layer thickness increases as (l(2)x)(1/3) for all values of F, where the length scale l = root 2B/(rho) over bar. The analysis reveals important differences between granular flows and the flows of Newtonian fluids. The Reynolds number (ratio of inertial and viscous terms) turns out to depend only on the layer height and Bagnold coefficients, and is independent of the flow velocity, because both the inertial terms in the conservation equations and the divergence of the stress depend on the square of the velocity/velocity gradients. The compressibility number (ratio of the variation in volume fraction and mean volume fraction) is independent of the flow velocity and layer height, and depends only on the volume fraction and Bagnold coefficients.

Análise da dinâmica do uso da terra e sua interferência em inundações na cidade de Rio Claro (SP)

Pós-graduação em Geologia Regional - IGCE

Interferência do uso da terra para as inundações na área urbana do córrego da servidão, Rio Claro (SP)

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Calculating Basal Thermal Zones Beneath the Antarctic Ice Sheet

A procedure is presented for using a simple flowline model to calculate the fraction of the bed that is thawed beneath present-day ice sheets, and therefore for mapping thawed, frozen, melting and freezing basal thermal zones. The procedure is based on the proposition, easily demonstrated, that variations in surface slope along ice flowlines are due primarily to variations in bed topography and ice-bed coupling, where ice-bed coupling for sheet flow is represented by the basal thawed fraction. This procedure is then applied to the central flowlines of flow bands on the Antarctic ice sheet where accumulation rates, surface elevations and bed topography are mapped with sufficient accuracy, and where sheet flow rather than stream flow prevails. In East Antarctica, the usual condition is a low thawed fraction in subglacial highlands, but a high thawed fraction in subglacial basins and where ice converges on ice streams. This is consistent with a greater depression of the basal melting temperature and a slower rate of conducting basal heat to the surface where ice is thick, and greater basal frictional heat production where ice flow is fast, as expected for steady-state flow. This correlation is reduced or even reversed where steady-state flow has been disrupted recently, notably where ice-stream surges produced the Dibble and Dalton Iceberg Tongues, both of which are now stagnating. In West Antarctica, for ice draining into the Pine Island Bay polynya of the Amundsen Sea, the basal thawed fraction is consistent with a prolonged and ongoing surge of Pine Island Glacier and with a recently initiated surge of Thwaites Glacier. For ice draining into the Ross Ice Shelf, long ice streams extend nearly to the West Antarctic ice divide. Over the rugged bed topography near the ice divide, no correlation consistent with steady-state sheet flow exists between ice thickness and the basal thawed fraction. The bed is wholly thawed beneath ice streams, even where stream flow is slow. This is consistent with ongoing gravitational collapse of ice entering the Ross Sea embayment and with unstable flow in the ice streams.

The SIROCO Asteroid Deflection Demonstrator

There is evidence of past Near-Earth-Objects (NEOs) impacts on Earth and several studies indicating that even relatively small objects are capable of causing large local damage, either directly or in combination with other phenomena, e.g. tsunamis. This paper describes a space mission concept to demonstrate some of the key technologies to rendezvous with an asteroid and accurately measure its trajectory during and after a deflection maneuver. The mission, called SIROCO, makes use of the recently proposed ion beam shepherd (IBS) concept where a stream of accelerated plasma ions is directed against the surface of a small NEO resulting in a net transmitted deflection force. We show that by carefully selecting the target NEO a measurable deflection can be obtained in a few weeks of continuous thrust with a small spacecraft and state of the art electric propulsion hardware.

Sand bar at extreme north end of Grand Island

verso: Sand bar at extreme north end of Grand Island where north stream flows into Lake Superior at low gradient

Integrated marketing communications (IMC) : where to from here?

IMC is one of the most controversial areas of marketing education during the past decade. While many definitions of TMC have been put forth, agreement on the discipline's constructs remains unresolved. The core of future legitimacy of IMC resides in the development of a stream of research that develop s theory and methods for evaluation of IMC effectiveness. This paper reviews more than a decade of research on IMC effectiveness, suggests where the field is heading. and identifies future directions for fMC research.

Algebraic attacks on clock-controlled stream ciphers

Stream ciphers are encryption algorithms used for ensuring the privacy of digital telecommunications. They have been widely used for encrypting military communications, satellite communications, pay TV encryption and for voice encryption of both fixed lined and wireless networks. The current multi year European project eSTREAM, which aims to select stream ciphers suitable for widespread adoptation, reflects the importance of this area of research. Stream ciphers consist of a keystream generator and an output function. Keystream generators produce a sequence that appears to be random, which is combined with the plaintext message using the output function. Most commonly, the output function is binary addition modulo two. Cryptanalysis of these ciphers focuses largely on analysis of the keystream generators and of relationships between the generator and the keystream it produces. Linear feedback shift registers are widely used components in building keystream generators, as the sequences they produce are well understood. Many types of attack have been proposed for breaking various LFSR based stream ciphers. A recent attack type is known as an algebraic attack. Algebraic attacks transform the problem of recovering the key into a problem of solving multivariate system of equations, which eventually recover the internal state bits or the key bits. This type of attack has been shown to be effective on a number of regularly clocked LFSR based stream ciphers. In this thesis, algebraic attacks are extended to a number of well known stream ciphers where at least one LFSR in the system is irregularly clocked. Applying algebriac attacks to these ciphers has only been discussed previously in the open literature for LILI-128. In this thesis, algebraic attacks are first applied to keystream generators using stop-and go clocking. Four ciphers belonging to this group are investigated: the Beth-Piper stop-and-go generator, the alternating step generator, the Gollmann cascade generator and the eSTREAM candidate: the Pomaranch cipher. It is shown that algebraic attacks are very effective on the first three of these ciphers. Although no effective algebraic attack was found for Pomaranch, the algebraic analysis lead to some interesting findings including weaknesses that may be exploited in future attacks. Algebraic attacks are then applied to keystream generators using (p; q) clocking. Two well known examples of such ciphers, the step1/step2 generator and the self decimated generator are investigated. Algebraic attacks are shown to be very powerful attack in recovering the internal state of these generators. A more complex clocking mechanism than either stop-and-go or the (p; q) clocking keystream generators is known as mutual clock control. In mutual clock control generators, the LFSRs control the clocking of each other. Four well known stream ciphers belonging to this group are investigated with respect to algebraic attacks: the Bilateral-stop-and-go generator, A5/1 stream cipher, Alpha 1 stream cipher, and the more recent eSTREAM proposal, the MICKEY stream ciphers. Some theoretical results with regards to the complexity of algebraic attacks on these ciphers are presented. The algebraic analysis of these ciphers showed that generally, it is hard to generate the system of equations required for an algebraic attack on these ciphers. As the algebraic attack could not be applied directly on these ciphers, a different approach was used, namely guessing some bits of the internal state, in order to reduce the degree of the equations. Finally, an algebraic attack on Alpha 1 that requires only 128 bits of keystream to recover the 128 internal state bits is presented. An essential process associated with stream cipher proposals is key initialization. Many recently proposed stream ciphers use an algorithm to initialize the large internal state with a smaller key and possibly publicly known initialization vectors. The effect of key initialization on the performance of algebraic attacks is also investigated in this thesis. The relationships between the two have not been investigated before in the open literature. The investigation is conducted on Trivium and Grain-128, two eSTREAM ciphers. It is shown that the key initialization process has an effect on the success of algebraic attacks, unlike other conventional attacks. In particular, the key initialization process allows an attacker to firstly generate a small number of equations of low degree and then perform an algebraic attack using multiple keystreams. The effect of the number of iterations performed during key initialization is investigated. It is shown that both the number of iterations and the maximum number of initialization vectors to be used with one key should be carefully chosen. Some experimental results on Trivium and Grain-128 are then presented. Finally, the security with respect to algebraic attacks of the well known LILI family of stream ciphers, including the unbroken LILI-II, is investigated. These are irregularly clock- controlled nonlinear filtered generators. While the structure is defined for the LILI family, a particular paramater choice defines a specific instance. Two well known such instances are LILI-128 and LILI-II. The security of these and other instances is investigated to identify which instances are vulnerable to algebraic attacks. The feasibility of recovering the key bits using algebraic attacks is then investigated for both LILI- 128 and LILI-II. Algebraic attacks which recover the internal state with less effort than exhaustive key search are possible for LILI-128 but not for LILI-II. Given the internal state at some point in time, the feasibility of recovering the key bits is also investigated, showing that the parameters used in the key initialization process, if poorly chosen, can lead to a key recovery using algebraic attacks.

A different algebraic analysis of the ZUC stream cipher

Existing algebraic analyses of the ZUC cipher indicate that the cipher should be secure against algebraic attacks. In this paper, we present an alternative algebraic analysis method for the ZUC stream cipher, where a combiner is used to represent the nonlinear function and to derive equations representing the cipher. Using this approach, the initial states of ZUC can be recovered from 2^97 observed words of keystream, with a complexity of 2^282 operations. This method is more successful when applied to a modified version of ZUC, where the number of output words per clock is increased. If the cipher outputs 120 bits of keystream per clock, the attack can succeed with 219 observed keystream bits and 2^47 operations. Therefore, the security of ZUC against algebraic attack could be significantly reduced if its throughput was to be increased for efficiency.

Slide attacks on the Sfinks stream cipher

Sfinks is a shift register based stream cipher designed for hardware implementation and submitted to the eSTREAM project. In this paper, we analyse the initialisation process of Sfinks. We demonstrate a slid property of the loaded state of the Sfinks cipher, where multiple key-IV pairs may produce phase shifted keystream sequences. The state update functions of both the initialisation process and keystream generation and also the pattern of the padding affect generation of the slid pairs.