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Peer-to-peer (P2P) trading in a local energy market (LEM) offers various participants the opportunity to negotiate and strike energy deals among themselves using a distributed ledger technology called blockchain. In this paper, a new local model is presented using a layer-2 scalability solution for second-generation (Gen2) blockchain technology to enable P2P trading among four types of participants: consumers, prosumers with solar photovoltaic (PV) systems, prosumers with solar PV systems and battery energy storage systems (BESSs), and electric vehicles (EVs). The proposed LEM trading platform involves several critical steps, including the creation of typical forecasting profiles for load consumption, solar generation, and battery state-of-charge (SOC) through a forecasting solution. Next, the LEM participants place their pricing bids using a trading agent service, and the trading engine collects the profiles data and bid prices, which performs matchmaking in a forward-facing market. The output of the trading engine consists of dispatch signals for prices and energy values that are sent to each participant to execute actual trading. Furthermore, the trading engines store the accepted and past bidding data and energy values of P2P trades for each participant in blockchain technology, which can be retrieved and displayed on the LEM user interface screens of participants and administrators using their blockchain addresses at any time during the trading process. This study focuses on simulating proposed LEM models, incorporating functional limitations and market rules. These rules aim to reduce energy costs, enhance margins for utilities and retailers, and mitigate grid congestion through BESSs, resulting in reduced operational and capital expenditure. LEM outcomes are analysed and compared with a Business-as-usual (BAU) model. Participants’ energy trading behaviour, cost-revenue dynamics, grid impact, and blockchain implementation costs are explored. The study highlights LEM benefits in terms of reduced CO2 emissions by 984 kg CO2, increased self-sufficiency by 2.2%, and improved financial benefits of all participants by 21.6%. The use of modern blockchain technology guarantees secure data storage and rapid, cost-effective energy trading, thereby making the proposed LEM platform a viable solution in the distribution market.

Gambling disorder is associated with deficits in reward-based learning, but the underlying computational mechanisms are still poorly understood. Here, we examined this issue using a stationary reinforcement learning task in combination with computational modeling and functional resonance imaging (fMRI) in individuals that regular participate in gambling (n = 23, seven fulfilled one to three DSM 5 criteria for gambling disorder, sixteen fulfilled four or more) and matched controls (n = 23). As predicted, the gambling group exhibited substantially reduced accuracy, whereas overall response times (RTs) were not reliably different between groups. We then used comprehensive modeling using reinforcement learning drift diffusion models (RLDDMs) in combination with hierarchical Bayesian parameter estimation to shed light on the computational underpinnings of this performance deficit. In both groups, an RLDDM in which both non-decision time and decision threshold (boundary separation) changed over the course of the experiment accounted for the data best. The model showed good parameter and model recovery, and posterior predictive checks revealed that, in both groups, the model accurately reproduced the evolution of accuracies and RTs over time. Modeling revealed that, compared to controls, the learning impairment in the gambling group was linked to a more rapid reduction in decision thresholds over time, and a reduced impact of value-differences on the drift rate. The gambling group also showed shorter non-decision times. FMRI analyses replicated effects of prediction error coding in the ventral striatum and value coding in the ventro-medial prefrontal cortex, but there was no credible evidence for group differences in these effects. Taken together, our findings show that reinforcement learning impairments in disordered gambling are linked to both maladaptive decision threshold adjustments and a reduced consideration of option values in the choice process.

Abstract Dopamine fundamentally contributes to reinforcement learning, but recent accounts also suggest a contribution to specific action selection mechanisms and the regulation of response vigour. Here, we examine dopaminergic mechanisms underlying human reinforcement learning and action selection via a combined pharmacological neuroimaging approach in male human volunteers (n = 31, within-subjects; Placebo, 150 mg of the dopamine precursor L-dopa, 2 mg of the D2 receptor antagonist Haloperidol). We found little credible evidence for previously reported beneficial effects of L-dopa vs. Haloperidol on learning from gains and altered neural prediction error signals, which may be partly due to differences experimental design and/or drug dosages. Reinforcement learning drift diffusion models account for learning-related changes in accuracy and response times, and reveal consistent decision threshold reductions under both drugs, in line with the idea that lower dosages of D2 receptor antagonists increase striatal DA release via an autoreceptor-mediated feedback mechanism. These results are in line with the idea that dopamine regulates decision thresholds during reinforcement learning, and may help to bridge action selection and response vigor accounts of dopamine.

Mobile monitoring is used as an additional tool to collect air quality data at a high spatial resolution and to complement data from fixed air quality stations. Citizens are interested in contributing to air quality monitoring, and while the availability of low-cost air quality sensors can create opportunities to measure the air quality at a high spatial resolution, the data are often of lower quality, and sensors that measure combustion-related aerosols (like black carbon) are not commonly available. Mobile monitoring using a mid-range instrument can fill this gap. We present the results of a mobile BC (black carbon) monitoring campaign performed by citizens in Mechelen as part of a local citizen observatory (CO), Meet Mee Mechelen, initiated as part of the European H2020 project, Ground Truth 2.0. The goal of the study was two-fold: (1) to propose and evaluate a mobile monitoring method (data collection and data processing) to construct pollution maps of BC concentrations and (2) to demonstrate how to organize community-based air quality monitoring to measure both the spatial and temporal variations in air pollution levels. Measurements were taken during peak hours in four campaigns characterized by different meteorological conditions: October–November 2017, February–March 2018, June–July 2018 and September 2018. The results show large spatial and temporal variabilities. Spatial variability is influenced by traffic volume, stop-and-go traffic and also the building environment and the distance of biking paths from road traffic. The four different campaigns show similar spatial patterns, but due to background and meteorological influences, the absolute concentrations differ between seasons. A rescaling method using data from fixed stations in the air quality monitoring network (AQMN) was presented to construct maps representative of longer periods. This paper shows that mobile measurements can be used by CO to assess the spatial variability of air quality in a city. The data can be used to evaluate mobility plans, carry out hot spot detection, evaluate the exposure of cyclists as a function of cycling infrastructure and perform model validation. However, it is important to use high-quality instruments and apply the correct measurement methodology (number of repetitions, season) to obtain meaningful data.

Abstract Low-cost air quality sensor systems can be deployed at high density, making them a significant candidate of complementary tools for improved air quality assessment. However, they still suffer from poor or unknown data quality. In this paper, we report on a unique dataset including the raw sensor data of quality-controlled sensor networks along with co-located reference data sets. Sensor data are collected using the AirSensEUR sensor system, including sensors to monitor NO, NO2, O3, CO, PM2.5, PM10, PM1, CO2 and meteorological parameters. In total, 85 sensor systems were deployed throughout a year in three European cities (Antwerp, Oslo and Zagreb), resulting in a dataset comprising different meteorological and ambient conditions. The main data collection included two co-location campaigns in different seasons at an Air Quality Monitoring Station (AQMS) in each city and a deployment at various locations in each city (also including locations at other AQMSs). The dataset consists of data files with sensor and reference data, and metadata files with description of locations, deployment dates and description of sensors and reference instruments.

Deployment of Reinforcement Learning (RL) algorithms for robotics applications in the real world requires ensuring the safety of the robot and its environment. Safe Robot RL (SRRL) is a crucial step toward achieving human-robot coexistence. In this paper, we envision a human-centered SRRL framework consisting of three stages: safe exploration, safety value alignment, and safe collaboration. We examine the research gaps in these areas and propose to leverage interactive behaviors for SRRL. Interactive behaviors enable bi-directional information transfer between humans and robots, such as conversational robot ChatGPT. We argue that interactive behaviors need further attention from the SRRL community. We discuss four open challenges related to the robustness, efficiency, transparency, and adaptability of SRRL with interactive behaviors.

Wat betekent de brute en massale overval op een zelfstandige staat als Oekraïne voor de bezinning binnen de wereldwijde katholieke vredesbeweging Pax Christi International? Jan Peters schetst hoe de beweging zich baseerde op de levenshouding van Jezus, maar inzake Oekraïne toch het recht op zelfverdediging erkend heeft evenals de verantwoordelijkheid van een regering om eigen burgers te beschermen. De begrippen ‘actieve geweldloosheid’ en ‘rechtvaardige vrede’ kunnen blijvend zicht geven op een vreedzame toekomst voor de volkeren in het oosten van Europa, evenals in andere conflicthaarden in de wereld.

Optimal control of general nonlinear systems is a central challenge in automation. Enabled by powerful function approximators, data-driven approaches to control have recently successfully tackled challenging applications. However, such methods often obscure the structure of dynamics and control behind black-box over-parameterized representations, thus limiting our ability to understand closed-loop behavior. This article adopts a hybrid-system view of nonlinear modeling and control that lends an explicit hierarchical structure to the problem and breaks down complex dynamics into simpler localized units. We consider a sequence modeling paradigm that captures the temporal structure of the data and derive an expectation-maximization (EM) algorithm that automatically decomposes nonlinear dynamics into stochastic piecewise affine models with nonlinear transition boundaries. Furthermore, we show that these time-series models naturally admit a closed-loop extension that we use to extract local polynomial feedback controllers from nonlinear experts via behavioral cloning. Finally, we introduce a novel hybrid relative entropy policy search (Hb-REPS) technique that incorporates the hierarchical nature of hybrid models and optimizes a set of time-invariant piecewise feedback controllers derived from a piecewise polynomial approximation of a global state-value function.

This paper presents the application of a community battery energy storage system (CBESS)-integrated microgrid (MG) in a blockchain-enabled local energy market (LEM). The proposed LEM balances the community energy requirement while facilitating frequent peer-to-peer (P2P) energy transactions between several energy users in the presence of both energy supplier and energy operator. The architecture is formulated by taking a number of local market and network constraints, that include residential battery energy storage system (RBESS) constraints; CBESS constraints; P2P traded price constraints; P2P traded power constraints; margin constraints of the stakeholders; power grid export and import constraints; and network energy balance constraints, so as to not only incentivise energy users but also reduce import/export from/to power grid while keeping the margins of energy supplier and energy operator unaffected. Different types of transactions data including energy users’ P2P pricing bids and P2P traded energy volume are also stored in the blockchain database. Further, the developed LEM framework is also validated through a case study executed on an actual Australian power grid network, comprising 260 residential energy users; two energy suppliers; an energy operator; and a CBESS, and the performance of the proposed P2P trading-based LEM strategy is compared with the existing business-as-usual (BAU) that directs energy users to buy/sell energy at the time-of-use (ToU)/ feed-in-tariff (FiT) rate. The extensive and comparative simulation results confirm the superior performance of the proposed LEM mechanism in terms of minimising energy users’ electricity bill; lowering power grid import and export; and retaining margins of energy suppliers and the energy operator; and thus, emphasise its application suitability in the current electricity market.

In this paper, the proportional power sharing is focused through proposing a modified reverse droop control (RDC) scheme in a low-voltage (LV) islanded microgrid. The power is shared proportionally among parallel inverter-interfaced distributed energy resources (DERs) in an LV microgrid to distribute the change in the load based on their power capacity. The proposed control method shares real power inversely proportional in accordance with the real droop gain when the DERs have the same initial voltage values, while reactive power is also shared proportionally depending on reactive droop gains when different DERs’ rate-of-change of voltage angles (i.e. system frequency) are equal. The stability margins of the droop gains are analysed by dint of extended dynamic phasor model (DPM). An LV microgrid with inverter-interfaced DERs is demonstrated to run simulations during load impedance changing scenario. The simulation results demonstrate that the proposed controller provides better response with lesser oscillations than the conventional reverse droop controller. Also, the performance of sharing power in an LV islanded microgrid is validated.

Quaternary ammonium compounds (QACs) are a class of surfactants commonly used in disinfecting and cleaning products. Their use has substantially increased during the COVID-19 pandemic leading to increasing human exposure. QACs have been associated with hypersensitivity reactions and an increased risk of asthma. This study introduces the first identification, characterization and semi-quantification of QACs in European indoor dust using ion-mobility high-resolution mass spectrometry (IM-HRMS), including the acquisition of collision cross section values (DTCCSN2) for targeted and suspect QACs. A total of 46 indoor dust samples collected in Belgium were analyzed using target and suspect screening. Targeted QACs (n = 21) were detected with detection frequencies ranging between 4.2 and 100 %, while 15 QACs showed detection frequencies > 90 %. Semi-quantified concentrations of individual QACs showed a maximum of 32.23 µg/g with a median ∑QAC concentration of 13.05 µg/g and allowed the calculation of Estimated Daily Intakes for adults and toddlers. Most abundant QACs matched the patterns reported in indoor dust collected in the United States. Suspect screening allowed the identification of 17 additional QACs. A dialkyl dimethyl ammonium compound with mixed chain lengths (C16:C18) was characterized as a major QAC homologue with a maximum semi-quantified concentration of 24.90 µg/g. The high detection frequencies and structural variabilities observed call for more European studies on potential human exposure to these compounds. For all targeted QACs, drift tube IM-HRMS derived collision cross section values (DTCCSN2) are reported. Reference DTCCSN2 values allowed the characterization of CCS-m/z trendlines for each of the targeted QAC classes. Experimental CCS-m/z ratios of suspect QACs were compared with the CCS-m/z trendlines. The alignment between the two datasets served as an additional confirmation of the assigned suspect QACs. The use of the 4bit multiplexing acquisition mode with consecutive high-resolution demultiplexing confirmed the presence of isomers for two of the suspect QACs.

Reinforcement learning (RL) has become a highly successful framework for learning in Markov decision processes (MDP). Due to the adoption of RL in realistic and complex environments, solution robustness becomes an increasingly important aspect of RL deployment. Nevertheless, current RL algorithms struggle with robustness to uncertainty, disturbances, or structural changes in the environment. We survey the literature on robust approaches to reinforcement learning and categorize these methods in four different ways: (i) Transition robust designs account for uncertainties in the system dynamics by manipulating the transition probabilities between states; (ii) Disturbance robust designs leverage external forces to model uncertainty in the system behavior; (iii) Action robust designs redirect transitions of the system by corrupting an agent’s output; (iv) Observation robust designs exploit or distort the perceived system state of the policy. Each of these robust designs alters a different aspect of the MDP. Additionally, we address the connection of robustness to the risk-based and entropy-regularized RL formulations. The resulting survey covers all fundamental concepts underlying the approaches to robust reinforcement learning and their recent advances.

This paper presents a collated case study on local energy market (LEM) in Australia, in which energy users take part frequently in peer-to-peer (P2P) energy trading among themselves considering the agile presence of energy retailers and distribution utilities. To do so, first, an overview is provided in regard to LEM architecture, trading model with energy retailers, and the blockchain structure. Then, a new P2P trading mechanism is proposed in the LEM that enables both energy users, i.e., sellers and buyers, to reap financial benefits compared to the existing business-as-usual (BAU) model — where local power is exported and imported via feed-in-tariff (FiT) and time-of-use (ToU) rates. The proposed LEM framework also exploits residential battery energy storage systems (RBESSs); and the community battery energy storage systems (CBESSs) to balance local supply and demand appropriately and contributes towards lowering exports/imports from/to power grids by means of bilateral P2P transactions while the inclusion of responsible energy retailers are assured. Moreover, the margins of both energy retailers and distribution utilities are kept unchanged or increased to some extent by the proposed trading model to incorporate them in the LEM framework effectively. Finally, diverse case studies are provided to validate the proposed LEM mechanism with various studied models and demonstrate the superior performance in contrast with the present-day BAU model.

Supplementation with the catecholamine precursor L-Tyrosine might enhance cognitive performance, but overall findings are mixed. Here, we investigate the effect of a single dose of tyrosine (2g) vs. placebo on two catecholamine-dependent trans-diagnostic traits: model-based control during reinforcement learning (2-step task) and temporal discounting, using a double-blind, placebo-controlled, within-subject design (n = 28 healthy male participants). We leveraged drift diffusion models in a hierarchical Bayesian framework to jointly model participants' choices and response times (RTS) in both tasks. Furthermore, comprehensive autonomic monitoring (heart rate, heart rate variability, pupillometry, spontaneous eye blink rate) was performed both pre- and post-supplementation, to explore potential physiological effects of supplementation. Across tasks, tyrosine consistently reduced participants' RTs without deteriorating task-performance. Diffusion modeling linked this effect to attenuated decision-thresholds in both tasks and further revealed increased model-based control (2-step task) and (if anything) attenuated temporal discounting. On the physiological level, participants' pupil dilation was predictive of the individual degree of temporal discounting. Tyrosine supplementation reduced physiological arousal as revealed by increases in pupil dilation variability and reductions in heart rate. Supplementation-related changes in physiological arousal predicted individual changes in temporal discounting. Our findings provide first evidence that tyrosine supplementation might impact psychophysiological parameters, and suggest that modeling approaches based on sequential sampling models can yield novel insights into latent cognitive processes modulated by amino-acid supplementation.

The electricity market has increasingly played a significant role in ensuring the smooth operation of the power grid. The latest incarnation of the electricity market follows a bottom-up paradigm, rather than a top-down one, and aims to provide flexibility services to the power grid. The blockchain-based local energy market (LEM) is one such bottom-up market paradigm. It essentially enables consumers and prosumers (those who can generate power locally) within a defined power network topology to trade renewable energy amongst each other in a peer-to-peer (P2P) fashion using blockchain technology. This paper presents the development of such a P2P trading-facilitated LEM and the analysis of the proposed blockchain-based LEM by means of a case study using actual German residential customer data. The performance of the proposed LEM is also compared with that of BAU, in which power is traded via time-of-use (ToU) and feed-in-tariff (FiT) rates. The comparative results demonstrate: (1) the participants’ bill savings; (2) mitigation of the power grid’s export and import; (3) no/minimal variations in the margins of energy suppliers and system operators; and (4) cost comparison of Ethereum versus Polygon blockchain, thus emphasising the domineering performance of the developed P2P trading-based LEM mechanism.

Gambling disorder is a behavioral addiction that negatively impacts personal finances, work, relationships and mental health. In this pre-registered study (https://osf.io/5ptz9/) we investigated the impact of real-life gambling environments on two computational markers of addiction, temporal discounting and model-based reinforcement learning. Gambling disorder is associated with increased temporal discounting and reduced model-based learning. Regular gamblers (n = 30, DSM-5 score range 3–9) performed both tasks in a neutral (café) and a gambling-related environment (slot-machine venue) in counterbalanced order. Data were modeled using drift diffusion models for temporal discounting and reinforcement learning via hierarchical Bayesian estimation. Replicating previous findings, gamblers discounted rewards more steeply in the gambling-related context. This effect was positively correlated with gambling related cognitive distortions (pre-registered analysis). In contrast to our pre-registered hypothesis, model-based reinforcement learning was improved in the gambling context. Here we show that temporal discounting and model-based reinforcement learning are modulated in opposite ways by real-life gambling cue exposure. Results challenge aspects of habit theories of addiction, and reveal that laboratory-based computational markers of psychopathology are under substantial contextual control.

Value-based decision-making is of central interest in cognitive neuroscience and psychology, as well as in the context of neuropsychiatric disorders characterised by decision-making impairments. Studies examining (neuro-)computational mechanisms underlying choice behaviour typically focus on participants' decisions. However, there is increasing evidence that option valuation might also be reflected in motor response vigour and eye movements, implicit measures of subjective utility. To examine motor response vigour and visual fixation correlates of option valuation in intertemporal choice, we set up a task where the participants selected an option by pressing a grip force transducer, simultaneously tracking fixation shifts between options. As outlined in our preregistration (https://osf.io/k6jct), we used hierarchical Bayesian parameter estimation to model the choices assuming hyperbolic discounting, compared variants of the softmax and drift diffusion model, and assessed the relationship between response vigour and the estimated model parameters. The behavioural data were best explained by a drift diffusion model specifying a non-linear scaling of the drift rate by the subjective value differences. Replicating previous findings, we found a magnitude effect for temporal discounting, such that higher rewards were discounted less. This magnitude effect was further reflected in motor response vigour, such that stronger forces were exerted in the high vs. the low magnitude condition. Bayesian hierarchical linear regression further revealed higher grip forces, faster response times and a lower number of fixation shifts for trials with higher subjective value differences. An exploratory analysis revealed that subjective value sums across options showed an even more pronounced association with trial-wise grip force amplitudes. Our data suggest that subjective utility or implicit valuation is reflected in motor response vigour and visual fixation patterns during intertemporal choice. Taking into account response vigour might thus provide deeper insight into decision-making, reward valuation and maladaptive changes in these processes, e.g. in the context of neuropsychiatric disorders.

Abstract In recent years the emergence of high-performance virtual reality (VR) technology has opened up new possibilities for the examination of context effects in psychological studies. The opportunity to create ecologically valid stimulation in a highly controlled lab environment is especially relevant for studies of psychiatric disorders, where it can be problematic to confront participants with certain stimuli in real life. However, before VR can be confidently applied widely it is important to establish that commonly used behavioral tasks generate reliable data within a VR surrounding. One field of research that could benefit greatly from VR-applications are studies assessing the reactivity to addiction related cues (cue-reactivity) in participants suffering from gambling disorder. Here we tested the reliability of a commonly used temporal discounting task in a novel VR set-up designed for the concurrent assessment of behavioral and psychophysiological cue-reactivity in gambling disorder. On 2 days, thirty-four healthy non-gambling participants explored two rich and navigable VR-environments (neutral: café vs. gambling-related: casino and sports-betting facility), while their electrodermal activity was measured using remote sensors. In addition, participants completed the temporal discounting task implemented in each VR environment. On a third day, participants performed the task in a standard lab testing context. We then used comprehensive computational modeling using both standard softmax and drift diffusion model (DDM) choice rules to assess the reliability of discounting model parameters assessed in VR. Test–retest reliability estimates were good to excellent for the discount rate log(k), whereas they were poor to moderate for additional DDM parameters. Differences in model parameters between standard lab testing and VR, reflecting reactivity to the different environments, were mostly numerically small and of inconclusive directionality. Finally, while exposure to VR generally increased tonic skin conductance, this effect was not modulated by the neutral versus gambling-related VR-environment. Taken together this proof-of-concept study in non-gambling participants demonstrates that temporal discounting measures obtained in VR are reliable, suggesting that VR is a promising tool for applications in computational psychiatry, including studies on cue-reactivity in addiction.

The Paris Agreement reflects the global endeavour to limit the increase of global average temperature to 2 °C, better 1.5 °C above pre-industrial levels to prevent dangerous climate change. This requires that global anthropogenic net carbon dioxide (CO2) emissions are reduced to zero around 2050. The German Climate Protection Plan substantiates this goal and explicitly mentions peatlands, which make up 5 % of the total area under land use and emit 5.7 % of total annual greenhouse gas emissions in Germany. Based on inventory reporting and assumptions of land use change probability, we have developed emission reduction pathways for organic soils in Germany that on a national level comply with the IPCC 1.5 °C pathways. The more gradual pathway 1 requires the following interim (2030, 2040) and ultimate (2050) milestones: Cropland use stopped and all Cropland converted to Grassland by 2030; Water tables raised to the soil surface on 15 % / 60 % / 100 % of all Grassland, on 50 % / 75 % / 100 % of all Forest land, and ultimately on 2/3 of all Settlements and on 100 % of all Wetlands. Also a more direct pathway 2 without interim ‘moist’ water tables and the climate effect (radiative forcing) of different scenarios is presented.

The Nadaraya-Watson kernel estimator is among the most popular nonparameteric regression technique thanks to its simplicity. Its asymptotic bias has been studied by Rosenblatt in 1969 and has been reported in several related literature. However, given its asymptotic nature, it gives no access to a hard bound. The increasing popularity of predictive tools for automated decision-making surges the need for hard (non-probabilistic) guarantees. To alleviate this issue, we propose an upper bound of the bias which holds for finite bandwidths using Lipschitz assumptions and mitigating some of the prerequisites of Rosenblatt’s analysis. Our bound has potential applications in fields like surgical robots or self-driving cars, where some hard guarantees on the prediction-error are needed.

The rise of deep learning has caused a paradigm shift in robotics research, favoring methods that require large amounts of data. Unfortunately, it is prohibitively expensive to generate such data sets on a physical platform. Therefore, state-of-the-art approaches learn in simulation where data generation is fast as well as inexpensive and subsequently transfer the knowledge to the real robot (sim-to-real). Despite becoming increasingly realistic, all simulators are by construction based on models, hence inevitably imperfect. This raises the question of how simulators can be modified to facilitate learning robot control policies and overcome the mismatch between simulation and reality, often called the “reality gap.” We provide a comprehensive review of sim-to-real research for robotics, focusing on a technique named “domain randomization” which is a method for learning from randomized simulations.

The ability of a robot to generate appropriate facial expressions is a key aspect of perceived sociability in human-robot interaction. Yet many existing approaches rely on the use of a set of fixed, preprogrammed joint configurations for expression generation. Automating this process provides potential advantages to scale better to different robot types and various expressions. To this end, we introduce ExGenNet, a novel deep generative approach for facial expressions on humanoid robots. ExGenNets connect a generator network to reconstruct simplified facial images from robot joint configurations with a classifier network for state-of-the-art facial expression recognition. The robots’ joint configurations are optimized for various expressions by backpropagating the loss between the predicted expression and intended expression through the classification network and the generator network. To improve the transfer between human training images and images of different robots, we propose to use extracted features in the classifier as well as in the generator network. Unlike most studies on facial expression generation, ExGenNets can produce multiple configurations for each facial expression and be transferred between robots. Experimental evaluations on two robots with highly human-like faces, Alfie (Furhat Robot) and the android robot Elenoide, show that ExGenNet can successfully generate sets of joint configurations for predefined facial expressions on both robots. This ability of ExGenNet to generate realistic facial expressions was further validated in a pilot study where the majority of human subjects could accurately recognize most of the generated facial expressions on both the robots.

(1) Background: This work evaluated the usability of commercial “low-cost” air quality sensor systems to substantiate evidence-based policy making. (2) Methods: Two commercially available sensor systems (Airly, Kunak) were benchmarked at a regulatory air quality monitoring station (AQMS) and subsequently deployed in Kampenhout and Sint-Niklaas (Belgium) to address real-world policy concerns: (a) what is the pollution contribution from road traffic near a school and at a central city square and (b) do local traffic interventions result in quantifiable air quality impacts? (3) Results: The considered sensor systems performed well in terms of data capture, correlation and intra-sensor uncertainty. Their accuracy was improved via local re-calibration, up to data quality levels for indicative measurements as set in the Air Quality Directive (Uexp < 50% for PM and 2). A methodological setup was proposed using local background and source locations, allowing for quantification of the (3.1) maximum potential impact of local policy interventions and (3.2) air quality impacts from different traffic interventions with local contribution reductions of up to 89% for NO2 and 60% for NO throughout the considered 3 month monitoring period; (4) Conclusions: Our results indicate that commercial air quality sensor systems are able to accurately quantify air quality impacts from (even short-lived) local traffic measures and contribute to evidence-based policy making under the condition of a proper methodological setup (background normalization) and data quality (recurrent calibration) procedure. The applied methodology and learnings were distilled in a blueprint for air quality sensor networks for replication actions in other cities.

Summary: In modern society, the natural drive to behave impulsively in order to obtain rewards must often be curbed. A continued failure to do so is associated with a range of outcomes including drug abuse, pathological gambling, and obesity. Here, we used virtual reality technology to investigate whether spatial proximity to rewards has the power to exacerbate the drive to behave impulsively toward them. We embedded two behavioral tasks measuring distinct forms of impulsive behavior, impulsive action, and impulsive choice, within an environment rendered in virtual reality. Participants responded to three-dimensional cues representing food rewards located in either near or far space. Bayesian analyses revealed that participants were significantly less able to stop motor actions when rewarding cues were near compared with when they were far. Since factors normally associated with proximity were controlled for, these results suggest that proximity plays a distinctive role in driving impulsive actions for rewards.

The purpose of this paper is to examine, whether and under which conditions humans are able to predict the putting distance of a robotic device. Based on the "flash-lag effect" (FLE) it was expected that the prediction errors increase with increasing putting velocity. Furthermore, we hypothesized that the predictions are more accurate and more confident if human observers operate under full vision (F-RCHB) compared to either temporal occlusion (I-RCHB) or spatial occlusion (invisible ball, F-RHC, or club, F-B). In two experiments, 48 video sequences of putt movements performed by a BioRob robot arm were presented to thirty-nine students (age: 24.49±3.20 years). In the experiments, video sequences included six putting distances (1.5, 2.0, 2.5, 3.0, 3.5, and 4.0 m; experiment 1) under full versus incomplete vision (F-RCHB versus I-RCHB) and three putting distances (2. 0, 3.0, and 4.0 m; experiment 2) under the four visual conditions (F-RCHB, I-RCHB, F-RCH, and F-B). After the presentation of each video sequence, the participants estimated the putting distance on a scale from 0 to 6 m and provided their confidence of prediction on a 5-point scale. Both experiments show comparable results for the respective dependent variables (error and confidence measures). The participants consistently overestimated the putting distance under the full vision conditions; however, the experiments did not show a pattern that was consistent with the FLE. Under the temporal occlusion condition, a prediction was not possible; rather a random estimation pattern was found around the centre of the prediction scale (3 m). Spatial occlusion did not affect errors and confidence of prediction. The experiments indicate that temporal constraints seem to be more critical than spatial constraints. The FLE may not apply to distance prediction compared to location estimation.

Tourette syndrome is a neurodevelopmental disorder associated with hyperactivity in dopaminergic networks. Dopaminergic hyperactivity in the basal ganglia has previously been linked to increased sensitivity to positive reinforcement and increases in choice impulsivity. In this study, we examine whether this extends to changes in temporal discounting, where impulsivity is operationalized as an increased preference for smaller-but-sooner over larger-but-later rewards. We assessed intertemporal choice in two studies including nineteen adolescents (age: mean[sd] = 14.21[±2.37], 13 male subjects) and twenty-five adult patients (age: mean[sd] = 29.88 [±9.03]; 19 male subjects) with Tourette syndrome and healthy age- and education matched controls. Computational modeling using exponential and hyperbolic discounting models via hierarchical Bayesian parameter estimation revealed reduced temporal discounting in adolescent patients, and no evidence for differences in adult patients. Results are discussed with respect to neural models of temporal discounting, dopaminergic alterations in Tourette syndrome and the developmental trajectory of temporal discounting. Specifically, adolescents might show attenuated discounting due to improved inhibitory functions that also affect choice impulsivity and/or the developmental trajectory of executive control functions. Future studies would benefit from a longitudinal approach to further elucidate the developmental trajectory of these effects.

In-hand manipulation and grasp adjustment with dexterous robotic hands is a complex problem that not only requires highly coordinated finger movements but also deals with interaction variability. The control problem becomes even more complex when introducing tactile information into the feedback loop. Traditional approaches do not consider tactile feedback and attempt to solve the problem either by relying on complex models that are not always readily available or by constraining the problem in order to make it more tractable. In this paper, we propose a hierarchical control approach where a higher level policy is learned through reinforcement learning, while low level controllers ensure grip stability throughout the manipulation action. The low level controllers are independent grip stabilization controllers based on tactile feedback. The independent controllers allow reinforcement learning approaches to explore the manipulation tasks state-action space in a more structured manner. We show that this structure allows learning the unconstrained task with RL methods that cannot learn it in a non-hierarchical setting. The low level controllers also provide an abstraction to the tactile sensors input, allowing transfer to real robot platforms. We show preliminary results of the transfer of policies trained in simulation to the real robot hand.

The ability to learn new tasks by sequencing already known skills is an important requirement for future robots. Reinforcement learning is a powerful tool for this as it allows for a robot to learn and improve on how to combine skills for sequential tasks. However, in real robotic applications, the cost of sample collection and exploration prevent the application of reinforcement learning for a variety of tasks. To overcome these limitations, human input during reinforcement can be beneficial to speed up learning, guide the exploration and prevent the choice of disastrous actions. Nevertheless, there is a lack of experimental evaluations of multi-channel interactive reinforcement learning systems solving robotic tasks with input from inexperienced human users, in particular for cases where human input might be partially wrong. Therefore, in this paper, we present an approach that incorporates multiple human input channels for interactive reinforcement learning in a unified framework and evaluate it on two robotic tasks with 20 inexperienced human subjects. To enable the robot to also handle potentially incorrect human input we incorporate a novel concept for self-confidence, which allows the robot to question human input after an initial learning phase. The second robotic task is specifically designed to investigate if this self-confidence can enable the robot to achieve learning progress even if the human input is partially incorrect. Further, we evaluate how humans react to suggestions of the robot, once the robot notices human input might be wrong. Our experimental evaluations show that our approach can successfully incorporate human input to accelerate the learning process in both robotic tasks even if it is partially wrong. However, not all humans were willing to accept the robot's suggestions or its questioning of their input, particularly if they do not understand the learning process and the reasons behind the robot's suggestions. We believe that the findings from this experimental evaluation can be beneficial for the future design of algorithms and interfaces of interactive reinforcement learning systems used by inexperienced users.

Involvement of dopamine in regulating exploration during decision-making has long been hypothesized, but direct causal evidence in humans is still lacking. Here, we use a combination of computational modeling, pharmacological intervention and functional magnetic resonance imaging to address this issue. Thirty-one healthy male participants performed a restless four-armed bandit task in a within-subjects design under three drug conditions: 150 mg of the dopamine precursor L-dopa, 2 mg of the D2 receptor antagonist haloperidol, and placebo. Choices were best explained by an extension of an established Bayesian learning model accounting for perseveration, directed exploration and random exploration. Modeling revealed attenuated directed exploration under L-dopa, while neural signatures of exploration, exploitation and prediction error were unaffected. Instead, L-dopa attenuated neural representations of overall uncertainty in insula and dorsal anterior cingulate cortex. Our results highlight the computational role of these regions in exploration and suggest that dopamine modulates how this circuit tracks accumulating uncertainty during decision-making.

Sequential sampling models such as the drift diffusion model (DDM) have a long tradition in research on perceptual decision-making, but mounting evidence suggests that these models can account for response time (RT) distributions that arise during reinforcement learning and value-based decision-making. Building on this previous work, we implemented the DDM as the choice rule in inter-temporal choice (temporal discounting) and risky choice (probability discounting) using hierarchical Bayesian parameter estimation. We validated our approach in data from nine patients with focal lesions to the ventromedial prefrontal cortex / medial orbitofrontal cortex (vmPFC/mOFC) and nineteen age- and education-matched controls. Model comparison revealed that, for both tasks, the data were best accounted for by a variant of the drift diffusion model including a non-linear mapping from value-differences to trial-wise drift rates. Posterior predictive checks confirmed that this model provided a superior account of the relationship between value and RT. We then applied this modeling framework and 1) reproduced our previous results regarding temporal discounting in vmPFC/mOFC patients and 2) showed in a previously unpublished data set on risky choice that vmPFC/mOFC patients exhibit increased risk-taking relative to controls. Analyses of DDM parameters revealed that patients showed substantially increased non-decision times and reduced response caution during risky choice. In contrast, vmPFC/mOFC damage abolished neither scaling nor asymptote of the drift rate. Relatively intact value processing was also confirmed using DDM mixture models, which revealed that in both groups >98% of trials were better accounted for by a DDM with value modulation than by a null model without value modulation. Our results highlight that novel insights can be gained from applying sequential sampling models in studies of inter-temporal and risky decision-making in cognitive neuroscience.

Reinforcement learning with sparse rewards is still an open challenge. Classic methods rely on getting feedback via extrinsic rewards to train the agent, and in situations where this occurs very rarely the agent learns slowly or cannot learn at all. Similarly, if the agent receives also rewards that create suboptimal modes of the objective function, it will likely prematurely stop exploring. More recent methods add auxiliary intrinsic rewards to encourage exploration. However, auxiliary rewards lead to a non-stationary target for the Q-function. In this paper, we present a novel approach that (1) plans exploration actions far into the future by using a long-term visitation count, and (2) decouples exploration and exploitation by learning a separate function assessing the exploration value of the actions. Contrary to existing methods that use models of reward and dynamics, our approach is off-policy and model-free. We further propose new tabular environments for benchmarking exploration in reinforcement learning. Empirical results on classic and novel benchmarks show that the proposed approach outperforms existing methods in environments with sparse rewards, especially in the presence of rewards that create suboptimal modes of the objective function. Results also suggest that our approach scales gracefully with the size of the environment.

Some adolescents seek novelty, but it is unknown whether the brain circuits underlying this behaviour can be used to predict later, problematic behaviour. Here, authors show that diminished ventral striatal and prefrontal activity in response to anticipated rewards at age 14 in these individuals predicts problematic drug use at age 16.

Failures of self-regulation in problem and pathological gambling (PPG) are thought to emerge from failures of top-down control, reflected neurophysiologically in a reduced capacity of prefrontal cortex to influence activity within subcortical structures. In patients with addictions, these impairments have been argued to alter evaluation of reward within dopaminergic neuromodulatory systems. Previously we demonstrated that augmenting dopamine tone in frontal cortex via use of tolcapone, an inhibitor of the dopamine-degrading enzyme catechol-O-methyltransferase (COMT), reduced delay discounting, a measure of impulsivity, in healthy subjects. To evaluate this potentially translational approach to augmenting prefrontal inhibitory control, here we hypothesized that increasing cortical dopamine tone would reduce delay discounting in PPG subjects in proportion to its ability to augment top-down control. To causally test this hypothesis, we administered the COMT inhibitor tolcapone in a randomized, double-blind, placebo-controlled, within-subject study of 17 PPG subjects who performed a delay discounting task while functional MRI images were obtained. In this subject population, we found that greater BOLD activity during the placebo condition within the right inferior frontal cortex (RIFC), a region thought to be important for inhibitory control, correlated with greater declines in impulsivity on tolcapone versus placebo. Intriguingly, connectivity between RIFC and the right striatum, and not the level of activity within RIFC itself, increased on tolcapone versus placebo. Together, these findings support the hypothesis that tolcapone-mediated increases in top-down control may reduce impulsivity in PPG subjects, a finding with potential translational relevance for gambling disorders, and for behavioral addictions in general.

Several approaches have been proposed to assist humans in co-manipulation and teleoperation tasks given demonstrated trajectories. However, these approaches are not applicable when the demonstrations are suboptimal or when the generalization capabilities of the learned models cannot cope with the changes in the environment. Nevertheless, in real co-manipulation and teleoperation tasks, the original demonstrations will often be suboptimal and a learning system must be able to cope with new situations. This paper presents a reinforcement learning algorithm that can be applied to such problems. The proposed algorithm is initialized with a probability distribution of demonstrated trajectories and is based on the concept of relevance functions. We show in this paper how the relevance of trajectory parameters to optimization objectives is connected with the concept of Pearson correlation. First, we demonstrate the efficacy of our algorithm by addressing the assisted teleoperation of an object in a static virtual environment. Afterward, we extend this algorithm to deal with dynamic environments by utilizing Gaussian Process regression. The full framework is applied to make a point particle and a 7-DoF robot arm autonomously adapt their movements to changes in the environment as well as to assist the teleoperation of a 7-DoF robot arm in a dynamic environment.

In the last decades, cognitive models of multisensory integration in human beings have been developed and applied to model human body experience. Recent research indicates that Bayesian and connectionist models might push developments in various branches of robotics: assistive robotic devices might adapt to their human users aiming at increased device embodiment, e.g., in prosthetics, and humanoid robots could be endowed with human-like capabilities regarding their surrounding space, e.g., by keeping safe or socially appropriate distances to other agents. In this perspective paper, we review cognitive models that aim to approximate the process of human sensorimotor behavior generation, discuss their challenges and potentials in robotics, and give an overview of existing approaches. While model accuracy is still subject to improvement, human-inspired cognitive models support the understanding of how the modulating factors of human body experience are blended. Implementing the resulting insights in adaptive and learning control algorithms could help to taylor assistive devices to their user's individual body experience. Humanoid robots who develop their own body schema could consider this body knowledge in control and learn to optimize their physical interaction with humans and their environment. Cognitive body experience models should be improved in accuracy and online capabilities to achieve these ambitious goals, which would foster human-centered directions in various fields of robotics.

Peatlands are the “kidneys” of river basins. However, intensification of agriculture and forestry in Europe has resulted in the degradation of peatlands and their biodiversity (i.e., species, habitats and processes in ecosystems), thus impairing water retention, nutrient filtration, and carbon capture. Restoration of peatlands requires assessment of patterns and processes, and spatial planning. To support strategic planning of protection, management, and restoration of peatlands, we assessed the conservation status of three peatland types within the trans-border Neman River basin. First, we compiled a spatial peatland database for the two EU and two non-EU countries involved. Second, we performed quantitative and qualitative gap analyses of fens, transitional mires, and raised bogs at national and sub-basin levels. Third, we identified priority areas for local peatland restoration using a local hotspot analysis. Nationally, the gap analysis showed that the protection of peatlands meets the Convention of Biological Diversity’s quantitative target of 17%. However, qualitative targets like representation and peatland qualities were not met in some regional sub-basins. This stresses that restoration of peatlands, especially fens, is required. This study provides an assessment methodology to support sub-basin-level spatial conservation planning that considers both quantitative and qualitative peatland properties. Finally, we highlight the need for developing and validating evidence-based performance targets for peatland patterns and processes and call for peatland restoration guided by social-ecological research and inter-sectoral collaborative governance.

Learning skills from kinesthetic demonstrations is a promising way of minimizing the gap between human manipulation abilities and those of robots. We propose an approach to learn sequential force interaction skills from such demonstrations. The demonstrations are decomposed into a set of movement primitives by inferring the underlying sequential structure of the task. The decomposition is based on a novel probability distribution which we call Directional Normal Distribution. The distribution allows infering the movement primitive’s composition, i.e., its coordinate frames, control variables and target coordinates from the demonstrations. In addition, it permits determining an appropriate number of movement primitives for a task via model selection. After finding the task’s composition, the system learns to sequence the resulting movement primitives in order to be able to reproduce the task on a real robot. We evaluate the approach on three different tasks, unscrewing a light bulb, box stacking and box flipping. All tasks are kinesthetically demonstrated and then reproduced on a Barrett WAM robot.

Grip force control during robotic in-hand manipulation is usually modeled as a monolithic task, where complex controllers consider the placement of all fingers and the contact states between each finger and the gripped object in order to compute the necessary forces to be applied by each finger. Such approaches normally rely on object and contact models and do not generalize well to novel manipulation tasks. Here, we propose a modular grip stabilization method based on a proposition that explains how humans achieve grasp stability. In this biomimetic approach, independent tactile grip stabilization controllers ensure that slip does not occur locally at the engaged robot fingers. Local slip is predicted from the tactile signals of each fingertip sensor i.e., BioTac and BioTac SP by Syntouch. We show that stable grasps emerge without any form of central communication when such independent controllers are engaged in the control of multi-digit robotic hands. The resulting grasps are resistant to external perturbations while ensuring stable grips on a wide variety of objects.

In the practice of motor skills in general, errors in the execution of movements may go unnoticed when a human instructor is not available. In this case, a computer system or robotic device able to detect movement errors and propose corrections would be of great help. This paper addresses the problem of how to detect such execution errors and how to provide feedback to the human to correct his/her motor skill using a general, principled methodology based on imitation learning. The core idea is to compare the observed skill with a probabilistic model learned from expert demonstrations. The intensity of the feedback is regulated by the likelihood of the model given the observed skill. Based on demonstrations, our system can, for example, detect errors in the writing of characters with multiple strokes. Moreover, by using a haptic device, the Haption Virtuose 6D, we demonstrate a method to generate haptic feedback based on a distribution over trajectories, which could be used as an auxiliary means of communication between an instructor and an apprentice. Additionally, given a performance measurement, the haptic device can help the human discover and perform better movements to solve a given task. In this case, the human first tries a few times to solve the task without assistance. Our framework, in turn, uses a reinforcement learning algorithm to compute haptic feedback, which guides the human toward better solutions.

This article describes our open-source software for predicting the intention of a user physically interacting with the humanoid robot iCub. Our goal is to allow the robot to infer the intention of the human partner during collaboration, by predicting the future intended trajectory: this capability is critical to design anticipatory behaviors that are crucial in human–robot collaborative scenarios, such as in co-manipulation, cooperative assembly, or transportation. We propose an approach to endow the iCub with basic capabilities of intention recognition, based on Probabilistic Movement Primitives (ProMPs), a versatile method for representing, generalizing, and reproducing complex motor skills. The robot learns a set of motion primitives from several demonstrations, provided by the human via physical interaction. During training, we model the collaborative scenario using human demonstrations. During the reproduction of the collaborative task, we use the acquired knowledge to recognize the intention of the human partner. Using a few early observations of the state of the robot, we can not only infer the intention of the partner but also complete the movement, even if the user breaks the physical interaction with the robot. We evaluate our approach in simulation and on the real iCub. In simulation, the iCub is driven by the user using the Geomagic Touch haptic device. In the real robot experiment, we directly interact with the iCub by grabbing and manually guiding the robot’s arm. We realize two experiments on the real robot: one with simple reaching trajectories, and one inspired by collaborative object sorting. The software implementing our approach is open source and available on the GitHub platform. In addition, we provide tutorials and videos.

Episodic Future Thinking has proven efficient in reducing impulsive behavior in several adult populations. Whether it also has a beneficial impact on decision making in adolescents is not known. Here the impact of episodic future thinking on discounting behavior was investigated in a sample of healthy adolescents (n = 44, age range 13-16 years). Discounting behavior in trials including episodic future thinking was significantly less impulsive than in control trials (t = 2.74, p = .009, dz = .44). In a subsample we controlled for executive function, alcohol use and developmental measures. Neither executive function nor alcohol use but developmental measures explained variability in the effect of episodic future thinking. These findings reveal that episodic future thinking can improve adolescent decision making while the effect is to some degree modulated by developmental measures.

Culicoides imicola is the main vector of the bluetongue virus in the Mediterranean Basin. Spatial distribution models for this species traditionally employ either climatic data or remotely sensed data, or a combination of both. Until now, however, no studies compared the accuracies of C. imicola distribution models based on climatic versus remote sensing data, even though remotely sensed datasets may offer advantages over climatic datasets with respect to spatial and temporal resolution. This study performs such an analysis for datasets over the peninsula of Calabria, Italy. Spatial distribution modelling based on climatic data using the random forests machine learning technique resulted in a percentage of correctly classified C. imicola trapping sites of nearly 88%, thereby outperforming the linear discriminant analysis and logistic regression modelling techniques. When replacing climatic data by remote sensing data, random forests modelling accuracies decreased only slightly. Assessment of the different variables’ importance showed that precipitation during late spring was the most important amongst 48 climatic variables. The dominant remotely sensed variables could be linked to climatic variables. Notwithstanding the slight decrease in predictive performance in this study, remotely sensed datasets could be preferred over climatic datasets for the modelling of C. imicola. Unlike climatic observations, remote sensing provides an equally high spatial resolution globally. Additionally, its high temporal resolution allows for investigating changes in species’ presence and changing environment.

Robot table tennis systems require a vision system that can track the ball position with low latency and high sampling rate. Altering the ball to simplify the tracking using, for instance, infrared coating changes the physics of the ball trajectory. As a result, table tennis systems use custom tracking systems to track the ball based on heuristic algorithms respecting the real-time constrains applied to RGB images captured with a set of cameras. However, these heuristic algorithms often report erroneous ball positions, and the table tennis policies typically need to incorporate additional heuristics to detect and possibly correct outliers. In this paper, we propose a vision system for object detection and tracking that focuses on reliability while providing real-time performance. Our assumption is that by using multiple cameras, we can find and discard the errors obtained in the object detection phase by checking for consistency with the positions reported by other cameras. We provide an open source implementation of the proposed tracking system to simplify future research in robot table tennis or related tracking applications with strong real-time requirements. We evaluate the proposed system thoroughly in simulation and in the real system, outperforming previous work. Furthermore, we show that the accuracy and robustness of the proposed system increases as more cameras are added. Finally, we evaluate the table tennis playing performance of an existing method in the real robot using the proposed vision system. We measure a slight increase in performance compared to a previous vision system even after removing all the heuristics previously present to filter out erroneous ball observations.

An optimal feedback controller for a given Markov decision process (MDP) can in principle be synthesized by value or policy iteration. However, if the system dynamics and the reward function are unknown, a learning agent must discover an optimal controller via direct interaction with the environment. Such interactive data gathering commonly leads to divergence towards dangerous or uninformative regions of the state space unless additional regularization measures are taken. Prior works proposed bounding the information loss measured by the Kullback−Leibler (KL) divergence at every policy improvement step to eliminate instability in the learning dynamics. In this paper, we consider a broader family of f-divergences, and more concretely α -divergences, which inherit the beneficial property of providing the policy improvement step in closed form at the same time yielding a corresponding dual objective for policy evaluation. Such entropic proximal policy optimization view gives a unified perspective on compatible actor-critic architectures. In particular, common least-squares value function estimation coupled with advantage-weighted maximum likelihood policy improvement is shown to correspond to the Pearson χ 2 -divergence penalty. Other actor-critic pairs arise for various choices of the penalty-generating function f. On a concrete instantiation of our framework with the α -divergence, we carry out asymptotic analysis of the solutions for different values of α and demonstrate the effects of the divergence function choice on common standard reinforcement learning problems.

Fixed air quality stations have limitations when used to assess people's real life exposure to air pollutants. Their spatial coverage is too limited to capture the spatial variability in, e.g., an urban or industrial environment. Complementary mobile air quality measurements can be used as an additional tool to fill this void. In this publication we present the Aeroflex, a bicycle for mobile air quality monitoring. The Aeroflex is equipped with compact air quality measurement devices to monitor ultrafine particle number counts, particulate mass and black carbon concentrations at a high resolution (up to 1 second). Each measurement is automatically linked to its geographical location and time of acquisition using GPS and Internet time. Furthermore, the Aeroflex is equipped with automated data transmission, data pre-processing and data visualization. The Aeroflex is designed with adaptability, reliability and user friendliness in mind. Over the past years, the Aeroflex has been successfully used for high resolution air quality mapping, exposure assessment and hot spot identification.