Automatic simulation-based testing of autonomous ships using Gaussian processes and temporal logic

A methodology for automatic simulation-based testing of control systems for autonomous vessels is proposed. The work is motivated by the need for increased test coverage and formalism in the verification efforts. It aims to achieve this by formulating requirements in the formal logic Signal Temporal Logic (STL). This enables automatic evaluation of simulations against requirements using the STL robustness metric, resulting in a robustness score for requirements satisfaction. Furthermore, the proposed method uses a Gaussian Process (GP) model for estimating robustness scores including levels of uncertainty for untested cases. The GP model is updated by running simulations and observing the resulting robustness, and its estimates are used to automatically guide the test case selection toward cases with low robustness or high uncertainty. The main scientific contribution is the development of an automatic testing method which incrementally runs new simulations until the entire parameter space of the case is covered to the desired confidence level, or until a case which falsifies the requirement is identified. The methodology is demonstrated through a case study, where the test object is a Collision Avoidance (CA) system for a small high-speed vessel. STL requirements for safety distance, mission compliance, and COLREG compliance are developed. The proposed method shows promise, by both achieving verification in feasible time and identifying falsifying behaviors which would be difficult to detect manually or using brute-force methods. An additional contribution of this work is a formalization of COLREG using temporal logic, which appears to be an interesting direction for future work.

Asymmetries around the visual field: From retina to cortex to behavior

Visual performance varies around the visual field. It is best near the fovea compared to the periphery, and at iso-eccentric locations it is best on the horizontal, intermediate on the lower, and poorest on the upper meridian. The fovea-to-periphery performance decline is linked to the decreases in cone density, retinal ganglion cell (RGC) density, and V1 cortical magnification factor (CMF) as eccentricity increases. The origins of polar angle asymmetries are not well understood. Optical quality and cone density vary across the retina, but recent computational modeling has shown that these factors can only account for a small percentage of behavior. Here, we investigate how visual processing beyond the cone photon absorptions contributes to polar angle asymmetries in performance. First, we quantify the extent of asymmetries in cone density, midget RGC density, and V1 CMF. We find that both polar angle asymmetries and eccentricity gradients increase from cones to mRGCs, and from mRGCs to cortex. Second, we extend our previously published computational observer model to quantify the contribution of phototransduction by the cones and spatial filtering by mRGCs to behavioral asymmetries. Starting with photons emitted by a visual display, the model simulates the effect of human optics, cone isomerizations, phototransduction, and mRGC spatial filtering. The model performs a forced choice orientation discrimination task on mRGC responses using a linear support vector machine classifier. The model shows that asymmetries in a decision maker’s performance across polar angle are greater when assessing the photocurrents than when assessing isomerizations and are greater still when assessing mRGC signals. Nonetheless, the polar angle asymmetries of the mRGC outputs are still considerably smaller than those observed from human performance. We conclude that cone isomerizations, phototransduction, and the spatial filtering properties of mRGCs contribute to polar angle performance differences, but that a full account of these differences will entail additional contribution from cortical representations.

Neodeightonia arengae sp. nov., Botryosphaeriaceous taxa on Arenga tremula (Arecaceae) from Guangdong, China

Microfungi associated with palm are a significant fungal group with a unique ecological niche and a broad distribution in tropical regions. Even though many fungal species have been reported from palm hosts, studies on fungi from Arenga tremula are considerably few. In this study, we isolated a saprobic Botryosphaeriaceae species on A. tremula, collected from Guangzhou, Guangdong Province, China. Morphological characteristics and phylogenetic analysis of the internal transcribed spacer (ITS), small subunit nuclear rRNA gene (SSU),part of the large subunit nuclear rRNA gene (LSU) and translation elongation factor 1−alpha gene (tef 1-α). Based on phylogenetic results and morphology we introduced Neodeightonia arengae sp. nov., with species description and illustrations. In addition, we provide a comparison of morphological characters of currently accepted Neodeightonia species. This is the first report of a Neodeightonia species associated with Arenga tremula and so represents an additional contribution to the knowledge of fungi associated with palm trees.

Neuroendocrinology applied to rabbit breeding

Successful rabbit production relies heavily on the use of adequate practices that enhance specific aspects of reproduction, such as mating, ovulation and lactation. Regardless of the type of production unit or strain of rabbits used, these processes rely on a complex chain of neuroendocrine steps that include particular hormones, peripheral stimuli and activation of discrete brain regions. Such is the case, for instance, of reflex ovulation, which occurs in response to copulation but is inhibited throughout lactation. Little is known about the mechanisms mediating lactational anoestrus and the restoration of oestrus following the cancellation of a single suckling episode (biostimulation). Nevertheless, the latter procedure (adopted worldwide to accelerate reproduction) has unwanted consequences for the doe and her litter. After successive episodes of biostimulation, the former shows a loss of fertility and body mass. In the kits, alterations are observed in their neuroendocrine response to mildly aversive stimulation in adulthood, as well as reductions in sexual behaviour. In addition to milk intake, a good nest is essential for normal litter growth and development. If this is not available, or if it deteriorates, rabbit caretakers can easily (re) build one from hair sheared off other rabbits or using synthetic material. Lactating does will nurse equally well their own or ‘alien’ young, placed inside the nest. It is crucial to have a minimum of six suckling kits in the nest, as the doe relies on this stimulation to maintain a normal nursing behaviour, i.e., only once a day throughout lactation. Recent work is revealing the similarities and differences in the responsiveness to mating among oestrous, lactating and biostimulated does. The relevance of these findings for the likelihood of reflex ovulation and the additional contribution of factors contained in the semen warrant more in-depth research. New insights on these issues, essential to reproductive neuroendocrinology, can emerge by fostering a richer interaction between academic laboratories and rabbit production settings worldwide.

Domestication reshaped the genetic basis of inbreeding depression in a maize landrace compared to its wild relative, teosinte

Inbreeding depression is the reduction in fitness and vigor resulting from mating of close relatives observed in many plant and animal species. The extent to which the genetic load of mutations contributing to inbreeding depression is due to large-effect mutations versus variants with very small individual effects is unknown and may be affected by population history. We compared the effects of outcrossing and self-fertilization on 18 traits in a landrace population of maize, which underwent a population bottleneck during domestication, and a neighboring population of its wild relative teosinte. Inbreeding depression was greater in maize than teosinte for 15 of 18 traits, congruent with the greater segregating genetic load in the maize population that we predicted from sequence data. Parental breeding values were highly consistent between outcross and selfed offspring, indicating that additive effects determine most of the genetic value even in the presence of strong inbreeding depression. We developed a novel linkage scan to identify quantitative trait loci (QTL) representing large-effect rare variants carried by only a single parent, which were more important in teosinte than maize. Teosinte also carried more putative juvenile-acting lethal variants identified by segregation distortion. These results suggest a mixture of mostly polygenic, small-effect partially recessive effects in linkage disequilibrium underlying inbreeding depression, with an additional contribution from rare larger-effect variants that was more important in teosinte but depleted in maize following the domestication bottleneck. Purging associated with the maize domestication bottleneck may have selected against some large effect variants, but polygenic load is harder to purge and overall segregating mutational burden increased in maize compared to teosinte.

Cultural Warrant and Hospitality in Animation Film Abstracting

In the Brazilian context, we lack a methodology for abstracting audiovisual documents. To address this, several authors have proposed different approaches. As an additional contribution, this research proposes cultural warrant and hospitality as a principle that could be considered during the abstracting of animation. Domain analysis was used as a method, and from the analyzed animation institutions we identified the discursive community and the institutional proposals. From the literature reviewed, the existing approach for abstracting was identified and named here as the document dimension. As a result, we concluded that the principle of cultural warrant and hospitality needs more theoretical discussion; however, it was also possible to apply it beyond the classification system. We also concluded that this principle could help to identify what attributes from animation film should be ensured during the abstracting, since this process should include elements based on the community needs and not only document attributes.

Equations of Electrodynamics

Maxwell’s equations are valid only for a stationary observation point, therefore, to adequately describe real processes so far we have had to move to a moving reference frame. This paper presents the equations of electrodynamics for the moving observation point, it is shown that plane and spherical electromagnetic waves are their solutions, while the spherical wave propagates only outward, which cannot be said about Maxwell’s equations. The fields of uniformly moving charges are also solutions of the equations. Now there is no need to move to a moving reference frame, to use four-dimensional space and covariant form of equations. The question of finding a universal form of the equations that allows a solution in the form of the field of an arbitrarily moving charge remains open. This raises the question of the existence of a two-parameter group of transformations of electromagnetic fields along with the known one-parameter group has been posed. The phenomena derived from the equations, which make an additional contribution to the phase overrun in the Aharonov-Bohm effect are considered. The equation of motion of a charged particle in an electromagnetic field without simplifying approximations is considered, which allows us to take into account the radiation effects. It is shown that the fields in a moving observation point depend on its velocity and acceleration. In particular, although in a constant uniform electric field a force qE acts on a motionless charged particle, but on the same motionless but not fixed particle the force 4/3qE acts already, because it has a nonzero acceleration and the electric field at this point is larger. As the speed increases, the field decreases, and when it reaches the speed of light, when the particle stops accelerating, the force again becomes equal to qE The principle of operation of an unconventional alternator in a constant electric field and its corresponding engine, as well as new types of direct and impulse current generators, predicted by the equations, are described.

Translation and validation of the Norwegian version of the Injustice Experience Questionnaire

Objectives Perceived injustice is a theoretical construct comprising elements of loss, attribution of blame, and sense of unfairness. Patients with chronic pain often report high levels of perceived injustice, which can have negative impact on physiological and psychosocial aspects and treatment outcome. The Injustice Experience Questionnaire (IEQ) is a self-report 12-item questionnaire that shows good reliability and validity in patients with chronic pain. This study aimed to translate, validate, and expand the use of the Norwegian Injustice Experience Questionnaire (IEQ-N) to a chronic pain population. Methods A mixed-method approach was used to translate and validate the IEQ-N. It was forward-back translated, linguistically validated, and culturally adapted. Individual cognitive debriefing interviews (n=7) and a focus group interview (n=9) was used to explore the patients’ experience with- and understanding of the questionnaire. Statistical descriptive, correlational, factor- and regression analyses were used to investigate the IEQ-N validity, reliability, and factorial structure in a large registry sample (n=3,068) of patients with chronic pain. Results Patients with chronic pain found the IEQ-N relevant. Registry analyses supported that the IEQ-N had a one-factor structure. The internal consistency was high (Chronbach’s alpha=0.92). The construct validity was good, with moderate to strong significant univariate correlation (r=0.29–0.71) (p<0.05) between perceived injustice and related constructs of pain catastrophizing, pain severity, disability, psychological distress, and quality of life. Perceived injustice contributed with significant but small unique variance to pain-related factors (i.e., pain intensity, pain-related disability, psychological distress), but the additional contribution beyond pain catastrophizing was small (0.2–6.7%) (p<0.05). Conclusions Patients in the study found the questionnaire relevant for their situation, and easy to understand. This study provides a reliable and valid Norwegian tool to assess perceived injustice in patients with chronic pain. Ethical committee number REK sør-øst, 2016/1942.

Groundwater sources for the Mataranka Springs (Northern Territory, Australia)

The Mataranka Springs Complex is the headwater of the iconic Roper River of northern Australia. Using environmental tracers measured in springs and nearby boreholes, the origin of groundwater contributing to the springs was evaluated to help assess the impact of proposed groundwater extraction in the Cambrian Limestone Aquifer (CLA) for irrigation agriculture and for hydraulic fracturing in the Beetaloo Sub-basin (an anticipated world-class unconventional gas reserve). Major ions, Sr, 87Sr/86Sr, δ18O-H2O, δ2H-H2O, 3H, 14C-DIC were consistent with regional groundwater from the Daly and Georgina basins of the CLA as the sources of water sustaining the major springs (Rainbow and Bitter) and one of the minor springs (Warloch Pond). However, 3H = 0.34 TU in another minor spring (Fig Tree) indicated an additional contribution from a young (probably local) source. High concentrations of radiogenic 4He (> 10–7 cm3 STP g–1) at Rainbow Spring, Bitter Spring and in nearby groundwater also indicated an input of deeper, older groundwater. The presence of older groundwater within the CLA demonstrates the need for an appropriate baseline characterisation of the vertical exchange of groundwater in Beetaloo Sub-basin ahead of unconventional gas resource development.

Linguistic Resources for Bhojpuri, Magahi, and Maithili: Statistics about Them, Their Similarity Estimates, and Baselines for Three Applications

Corpus preparation for low-resource languages and for development of human language technology to analyze or computationally process them is a laborious task, primarily due to the unavailability of expert linguists who are native speakers of these languages and also due to the time and resources required. Bhojpuri, Magahi, and Maithili, languages of the Purvanchal region of India (in the north-eastern parts), are low-resource languages belonging to the Indo-Aryan (or Indic) family. They are closely related to Hindi, which is a relatively high-resource language, which is why we compare them with Hindi. We collected corpora for these three languages from various sources and cleaned them to the extent possible, without changing the data in them. The text belongs to different domains and genres. We calculated some basic statistical measures for these corpora at character, word, syllable, and morpheme levels. These corpora were also annotated with parts-of-speech (POS) and chunk tags. The basic statistical measures were both absolute and relative and were expected to indicate linguistic properties, such as morphological, lexical, phonological, and syntactic complexities (or richness). The results were compared with a standard Hindi corpus. For most of the measures, we tried to match the corpus size across the languages to avoid the effect of corpus size, but in some cases it turned out that using the full corpus was better, even if sizes were very different. Although the results are not very clear, we tried to draw some conclusions about the languages and the corpora. For POS tagging and chunking, the BIS tagset was used to manually annotate the data. The POS-tagged data sizes are 16,067, 14,669, and 12,310 sentences, respectively, for Bhojpuri, Magahi, and Maithili. The sizes for chunking are 9,695 and 1,954 sentences for Bhojpuri and Maithili, respectively. The inter-annotator agreement for these annotations, using Cohen’s Kappa, was 0.92, 0.64, and 0.74, respectively, for the three languages. These (annotated) corpora have been used for developing preliminary automated tools, which include POS tagger, Chunker, and Language Identifier. We have also developed the Bilingual dictionary (Purvanchal languages to Hindi) and a Synset (that can be integrated later in the Indo-WordNet) as additional resources. The main contribution of the work is the creation of basic resources for facilitating further language processing research for these languages, providing some quantitative measures about them and their similarities among themselves and with Hindi. For similarities, we use a somewhat novel measure of language similarity based on an n-gram-based language identification algorithm. An additional contribution is providing baselines for three basic NLP applications (POS tagging, chunking, and language identification) for these closely related languages.