There is, I think, something ethereal about i —the square root of minus one. I remember first hearing about it at school. It seemed an odd beast at that time—an intruder hovering on the edge of reality.

Usually familiarity dulls this sense of the bizarre, but in the case of i it was the reverse: over the years the sense of its surreal nature intensified. It seemed that it was impossible to write mathematics that described the real world in …

I and i

Machine Learning is the study of methods for programming computers to learn. Computers are applied to a wide range of tasks, and for most of these it is relatively easy for programmers to design and implement the necessary software. However, there are many tasks for which this is difficult or impossible. These can be divided into four general categories. First, there are problems for which there exist no human experts. For example, in modern automated manufacturing facilities, there is a need to predict machine failures before they occur by analyzing sensor readings. Because the machines are new, there are no human experts who can be interviewed by a programmer to provide the knowledge necessary to build a computer system. A machine learning system can study recorded data and subsequent machine failures and learn prediction rules. Second, there are problems where human experts exist, but where they are unable to explain their expertise. This is the case in many perceptual tasks, such as speech recognition, hand-writing recognition, and natural language understanding. Virtually all humans exhibit expert-level abilities on these tasks, but none of them can describe the detailed steps that they follow as they perform them. Fortunately, humans can provide machines with examples of the inputs and correct outputs for these tasks, so machine learning algorithms can learn to map the inputs to the outputs. Third, there are problems where phenomena are changing rapidly. In finance, for example, people would like to predict the future behavior of the stock market, of consumer purchases, or of exchange rates. These behaviors change frequently, so that even if a programmer could construct a good predictive computer program, it would need to be rewritten frequently. A learning program can relieve the programmer of this burden by constantly modifying and tuning a set of learned prediction rules. Fourth, there are applications that need to be customized for each computer user separately. Consider, for example, a program to filter unwanted electronic mail messages. Different users will need different filters. It is unreasonable to expect each user to program his or her own rules, and it is infeasible to provide every user with a software engineer to keep the rules up-to-date. A machine learning system can learn which mail messages the user rejects and maintain the filtering rules automatically. Machine learning addresses many of the same research questions as the fields of statistics, data mining, and psychology, but with differences of emphasis. Statistics focuses on understanding the phenomena that have generated the data, often with the goal of testing different hypotheses about those phenomena. Data mining seeks to find patterns in the data that are understandable by people. Psychological studies of human learning aspire to understand the mechanisms underlying the various learning behaviors exhibited by people (concept learning, skill acquisition, strategy change, etc.).

Machine learning

Deposits of clastic carbonate-dominated (calciclastic) sedimentary slope systems in the rock record have been identified mostly as linearly-consistent carbonate apron deposits, even though most ancient clastic carbonate slope deposits fit the submarine fan systems better. Calciclastic submarine fans are consequently rarely described and are poorly understood. Subsequently, very little is known especially in mud-dominated calciclastic submarine fan systems. Presented in this study are a sedimentological core and petrographic characterisation of samples from eleven boreholes from the Lower Carboniferous of Bowland Basin (Northwest England) that reveals a >250 m thick calciturbidite complex deposited in a calciclastic submarine fan setting. Seven facies are recognised from core and thin section characterisation and are grouped into three carbonate turbidite sequences. They include: 1) Calciturbidites, comprising mostly of highto low-density, wavy-laminated bioclast-rich facies; 2) low-density densite mudstones which are characterised by planar laminated and unlaminated muddominated facies; and 3) Calcidebrites which are muddy or hyper-concentrated debrisflow deposits occurring as poorly-sorted, chaotic, mud-supported floatstones. These

Phd by thesis

I have developed "tennis elbow" from lugging this book around the past four weeks, but it is worth the pain, the effort, and the aspirin. It is also worth the (relatively speaking) bargain price. Including appendixes, this book contains 894 pages of text. The entire panorama of the neural sciences is surveyed and examined, and it is comprehensive in its scope, from genomes to social behaviors. The editors explicitly state that the book is designed as "an introductory text for students of biology, behavior, and medicine," but it is hard to imagine any audience, interested in any fragment of neuroscience at any level of sophistication, that would not enjoy this book. The editors have done a masterful job of weaving together the biologic, the behavioral, and the clinical sciences into a single tapestry in which everyone from the molecular biologist to the practicing psychiatrist can find and appreciate his or

Principles of Neural Science

1. Introduction. Control System Design Steps. Adaptive Control. A Brief History. 2. Models for Dynamic Systems. Introduction. State-Space Models. Input/Output Models. Plant Parametric Models. Problems. 3. Stability. Introduction. Preliminaries. Input/Output Stability. Lyapunov Stability. Positive Real Functions and Stability. Stability of LTI Feedback System. Problems. 4. On-Line Parameter Estimation. Introduction. Simple Examples. Adaptive Laws with Normalization. Adaptive Laws with Projection. Bilinear Parametric Model. Hybrid Adaptive Laws. Summary of Adaptive Laws. Parameter Convergence Proofs. Problems. 5. Parameter Identifiers and Adaptive Observers. Introduction. Parameter Identifiers. Adaptive Observers. Adaptive Observer with Auxiliary Input. Adaptive Observers for Nonminimal Plant Models. Parameter Convergence Proofs. Problems. 6. Model Reference Adaptive Control. Introduction. Simple Direct MRAC Schemes. MRC for SISO Plants. Direct MRAC with Unnormalized Adaptive Laws. Direct MRAC with Normalized Adaptive Laws. Indirect MRAC. Relaxation of Assumptions in MRAC. Stability Proofs in MRAC Schemes. Problems. 7. Adaptive Pole Placement Control. Introduction. Simple APPC Schemes. PPC: Known Plant Parameters. Indirect APPC Schemes. Hybrid APPC Schemes. Stabilizability Issues and Modified APPC. Stability Proofs. Problems. 8. Robust Adaptive Laws. Introduction. Plant Uncertainties and Robust Control. Instability Phenomena in Adaptive Systems. Modifications for Robustness: Simple Examples. Robust Adaptive Laws. Summary of Robust Adaptive Laws. Problems. 9. Robust Adaptive Control Schemes. Introduction. Robust Identifiers and Adaptive Observers. Robust MRAC. Performance Improvement of MRAC. Robust APPC Schemes. Adaptive Control of LTV Plants. Adaptive Control for Multivariable Plants. Stability Proofs of Robust MRAC Schemes. Stability Proofs of Robust APPC Schemes. Problems. Appendices. Swapping Lemmas. Optimization Techniques. Bibliography. Index. License Agreement and Limited Warranty.

Robust adaptive control

This paper proposes to collect statistical information of beam usage from multiple base stations for user localization at mmW carrier frequencies. This information is then used to construct multidimensional histograms that capture the correlations between good beam directions from multiple base stations. The histograms can be used to reduce the complexity of the multiple beam searches required for mmW positioning. Simulation results suggest that the multidimensional histograms are sparse, with only a few dominating beam directions. In light of this insight, methods are proposed to reduce the time needed to locate a mobile terminal when the observed time difference of arrival method is used for positioning.

Statistical beam information for mmW positioning

A method for generating a probability map for a cell served by a network node is provided. The method includes generating a first probability map (P1) indicating a likelihood of primary beam directions (step 602). Generating the first probability map includes recording a first direction of a first user equipment (UE), the first direction indicating a direction of a first beam (e.g., a first set of antenna weights (a.k.a., precoding vector)) associated with the first UE when the first UE appears in the cell served by the network node. The method further includes generating a second probability map (P2) indicating a joint likelihood of primary and secondary beam directions (step 604). Generating the second probability map includes recording a second direction of a second beam associated with the first UE when the first UE switches from the first beam to the second beam, the second direction being recorded in association with the first direction. 28 3602-1538WO1 (P73007WO1)

Efficient beam searching

Cornwallis

Cytosolic calcium ion levels are critical in sustaining neuronal activity. They have an intricate relationship with the neuronal energy systems, and Parkinson’s disease (PD) probably involves a dysfunctional energy system in the pacemaking neurons of the Substantia nigra. This chapter explores the association of repetitive firing pattern of these neurons and cytosolic calcium using a mathematical model. In particular, a theory is examined that proposes a role of low voltage activated L-type calcium channel in creating an energy stress within vulnerable neurons.

Energetics of Ion Transport in Dopaminergic Substantia nigra Neurons. Ion exchange dynamics at the p

This work presents the design and simulation of a stable balance and locomotion approach for a bipedal robot. The torque response of a falling body is modelled and a low-pass filter was designed and implemented for the angular position of actuators within the robot’s legs. A torque control method is also described, akin to using proportional and derivative control of the angular position of the actuators. Finally, a Zero Moment Point based capture step is described and implemented within simulation. With torque control alone, the result is a stable bipedal recovery from disturbances along the saggital plane of up to 11.25N of force, from a standing pose. In comparison, the previous implementation without dynamic stability leads to the robot falling after a minor disturbance of 2N. When capture step is included in the approach, the robot can recover from disturbances of up to 45N. The codebase is open-source and provides a humanoid robot simulation platform for research teams working in this area.

Richard H. Middleton

Papers

Statistical beam information for mmW positioning

Efficient beam searching

Cornwallis

Energetics of Ion Transport in Dopaminergic Substantia nigra Neurons. Ion exchange dynamics at the p

Implementation and analysis of dynamic stability for bipedal robotic motion