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RISS 인기검색어
- 검색키워드
- 저자 : Honig, Sally Schwab (검색결과 14 건)
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Motion Coordination for Large Multi-Robot Teams in Obstacle-Rich Environments
Honig, Wolfgang ProQuest Dissertations & Theses University of Sout 2019 해외박사(DDOD)
Using multiple robots is important for search-and-rescue, mining, entertainment, and warehouse automation, where robots must operate in constrained, perhaps even maze-like environments frequently. Motion coordination, which plans and executes the movement of robots, is a fundamental building block in such scenarios. Ideally, motion coordination should be capable of coordinating hundreds of robots efficiently even in obstacle-rich environments, of being executed on real physical robots, and of handling unforeseen dynamic changes.Two components of motion coordination are considered: motion planning and motion execution, both of which are coupled. Motion planning assumes that the environment is known a priori, and produces motion plans with theoretical guarantees such as completeness or optimality. On the other hand, motion execution provides safety guarantees even in the case of unforeseen dynamic changes. In this thesis, we extend the state-of-art in motion planning by providing a planning solution that can plan for hundreds of heterogeneous robots within minutes. We also introduce motion execution frameworks that can be used for robust (with respect to dynamically appearing obstacles, imperfect motion execution, etc.) and persistent execution.For motion planning, ideas from the artificial intelligence (AI) and robotics communities are combined. AI solvers are capable of computing plans for hundreds of robots in minutes with suboptimality guarantees. However, these solvers' simplified and unrealistic agent model assumptions make it challenging to execute the computed plans safely on real robots. Robotics solutions typically include richer kinodynamic models during planning, but are very slow when many robots and obstacles are taken into account. In this work, we combine the advantages of the two methods by using a two-step approach. First, we use and extend solvers from the AI community to solve a simplified coordination problem. The output is a discrete plan that, in its original form, cannot be executed on a real robot. Second, we apply a computationally efficient post-processing step that creates a smooth continuous plan, taking relevant kinematic constraints into account.For motion execution, we couple motion planning and traditional motion execution methods by adding a feedback term. In warehouse applications, this feedback term overlaps planning and execution, enabling uninterrupted robot motions. In distributed settings, such a feedback term can be used to avoid livelocks of robots in many cases.The approaches are demonstrated on different teams of robots, including ground robot teams, UAV teams, and heterogeneous teams.
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Honig, Sally Schwab New York University 2000 해외박사(DDOD)
This study tested the hypotheses that social workers would report more positive attitudes than physicians towards several aspects of patient autonomy: patient self-determination; patients participating in treatment decisions and the importance of truth disclosure to patients regarding diagnosis and treatment. This study compared the attitudes of physicians and social workers regarding the social workers' role in training physicians in communication skills and facilitating discussions with patients about their values and preferences for treatment. A self-administered questionnaire was completed by 65 physicians and 52 social workers at one New York City hospital. Social workers had less paternalistic attitudes than physicians and had more positive attitudes towards patient self-determination; patients participating in treatment decisions; learning values and preferences of patients and training physicians. Both professional groups reported favorable attitudes towards truth disclosure to patients. The physicians revealed positive attitudes towards social workers facilitating treatment discussions with patients.
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Essays on the role of government in emerging market financial crises
Honig, Adam Columbia University 2004 해외박사(DDOD)
The dissertation contains three chapters. The first chapter analyzes the effect of government quality on unofficial dollarization in emerging market countries. The unofficial dollarization of the domestic banking system represents a major source of vulnerability for emerging market countries, and a debate has emerged over whether the exchange rate regime has an impact on the degree of dollarization. This chapter argues that the regime is far less important than the literature has previously claimed. Unofficial dollarization results from a lack of faith in the domestic currency which ultimately stems from the belief that the government will not follow policies that promote long run currency stability. Empirical results indicate that improved government quality reduces unofficial dollarization while the exchange rate regime is insignificant. The second chapter identifies key variables that are predictive of banking crises using a probit model. I focus on the role played by unofficial dollarization of domestic banking systems, a factor that has not been studied in this context. Liability dollarization, determined in chapter one to be the result of a lack of government quality and credibility, is a major source of vulnerability for emerging markets as large depreciations render both domestic firms and banks unable to pay their dollar debts. Given the low incidence of crises during the sample period, however, it is not surprising that I find only weak evidence that unofficial dollarization affects the probability of a banking crisis. The third chapter (joint with Sonali Jain-Chandra) examines the role of government guarantees to domestic banks in generating moral hazard in pre-crisis East Asian economies. We test for moral hazard among bank creditors by determining whether protected banks received more funds from creditors than otherwise identical banks that did not enjoy such guarantees. To determine empirically the existence of moral hazard among bank managers, we examine whether managers of protected banks assumed more risk than their counterparts at non-protected banks. We find strong evidence of moral hazard among bank managers and some evidence of moral hazard among bank creditors.
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Derived Equivalent Varieties and their Zeta Functions
Honigs, Katrina University of California, Berkeley 2015 해외박사(DDOD)
In order to shed light on Orlov's conjecture that derived equivalent smooth, projective varieties have isomorphic Chow motives, we examine the zeta functions of derived equivalent varieties over finite fields; in this setting Orlov's conjecture predicts equality of zeta functions. It is demonstrated that derived equivalent smooth, projective varieties over finite fields that are abelian or satisfy a certain condition on their cohomology. This condition is satisfied, for example, by a surface or Calabi--Yau 3--fold. One of our approaches to comparing the zeta functions of derived equivalent varieties over finite fields comes from using the Lefschetz Fixed Point Theorem to turn the question into one of comparing the ℓ-adic etale cohomology of varieties. Cohomology groups are not in general preserved under the action of Fourier--Mukai equivalences on cohomology, but cohomological structures we call even and odd Mukai--Hodge structures, which are a realization of the Mukai motive, are preserved. Investigation into when isomorphism of these cohomological structures implies equality of zeta functions gives us our cohomological condition for equality of zeta functions. We also develop a relative version of the map Fourier--Mukai transforms induce on cohomology and define a relative notion of even and odd Mukai--Hodge structures, and show these structures are preserved in a situation arising from the derived equivalence of smooth, projective varieties with semiample (anti-)canonical bundles. Using this result, it is demonstrated that when derived equivalent smooth, projective varieties have semiample (anti-)canonical bundles, the fibers over any fixed geometric point in their shared (anti-)canonical variety must also have isomorphic even and odd Mukai--Hodge structures. Hence, for any such varieties over finite fields, if their geometric fibers satisfy any of the conditions identified for isomorphism of Mukai--Hodge structures to imply equality of zeta functions, then the varieties themselves also have equal zeta functions.
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Honig, Daniel J Harvard University 2015 해외박사(DDOD)
This dissertation examines when initiatives by International Development Organizations (IDOs) are more, and less, successful. The core argument is that allowing field-level agents to drive initiatives -- what I call organizational Navigation by Judgment -- will often be the most effective way to deliver aid. This inverts what a classical application of the principal agent model -- the workhorse of studies of public management and bureaucracy -- would predict, with better performance resulting from less control. In the delivery of foreign aid the costs of monitoring to the principal are often overshadowed by the deleterious effects of the monitoring itself. The core of the argument is that development implementation requires soft information, tacit knowledge, and flexibility that are crowded out by tight controls or an organizational navigation strategy focused on short term measurement and targets. As a result there are increasing returns to Navigation by Judgment in environments that are uncertain or difficult to understand from the outside and tasks where outputs are difficult to observe and/or poorly correlated with long term intervention goals. Insecure political authorizing environments which constrain the autonomy of IDOs prevent these organizations from Navigating by Judgment in situations where this is the best strategy. Empirically, this dissertation examines a cross-IDO dataset of projects (including over 14,000 projects over 50 years over 9 organizations), which I have assembled. It also examines eight cases of development interventions in Liberia and South Africa. These cases are matched pairs comparing the performance and navigation strategies of the US Agency for International Development (a low autonomy IDO) and the UK's Department for International Development (a higher autonomy IDO) in capacity building and health sector interventions.
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Honig, Gerard University of California, San Francisco 2009 해외박사(DDOD)
Serotonin (5-HT) is a neuromodulator with important roles in the regulation of physiological processes, particularly those regulating affect in humans. Drugs which selectively potentiate serotonergic neurotransmission by inhibiting the reuptake of serotonin (SSRIs) are widely used for the treatment of psychiatric disorders. It is thought that the therapeutic efficacy of SSRIs is limited by homeostatic mechanisms which counteract the ability of the drug to potentiate serotonergic neurotransmission. Here, I describe my work on two such mechanisms. First, I describe a role for 5-HT 2C receptors in counteracting the physiological and behavioral effect of SSRIs. In serotonin 2C receptor null mutant mice, extracellular 5-HT was unaltered at baseline. Upon administration of the SSRI fluoxetine, extracellular 5-HT rapidly increased in both wild-type and null mutant mice; this effect was potentiated in mutant mice. Furthermore, mutant mice had a greater response to fluoxetine in a behavioral assay for antidepressant effect. Pharmacological blockade of 5-HT 2C receptors also potentiated the effects of fluoxetine and another SSRI, citalopram, in wild-type mice and rats. In a second line of investigation, we investigated the effects of chronic citalopram treatment on 5-HT synthesis, which is an important factor in the clinical effects of SSRIs. Administration of citalopram for 2 days, 14 days or 28 days suppressed 5-HT synthesis. 5-HT content was not significantly reduced by citalopram at any time point. However, chronic citalopram did cause a significant reduction in forebrain 5-HT content when monoamine synthesis was completely inhibited by acute administration of an amino acid decarboxylase inhibitor. 5-HIAA content was reduced in citalopram-treated brains at all time points. These results demonstrate a sustained suppression of serotonin synthesis by chronic citalopram administration and suggest that serotonergic neurons are particularly dependent on de novo synthesis of 5-HT when the reuptake of 5-HT is inhibited. In technical appendices I describe novel tools for the study of serotonin biology. Taken together, these studies improve our understanding of the physiological actions of SSRIs and suggest strategies for improving their efficacy.
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