Anytime motion planning for prehensile manipulation in dense clutter

ABSTRACT

Many methods have been developed for planning the motion of robotic arms for picking and placing, ranging from local optimization to global search techniques, which are effective for sparsely placed objects. Dense clutter, however, still adversely affects the success rate, computation times, and quality of solutions in many real-world setups. The proposed method achieves high success ratio in clutter with anytime performance by returning solutions quickly and improving their quality over time. The method first explores the lower dimensional end effector's task space efficiently by ignoring the arm, and build a discrete approximation of a navigation function. This is performed online, without prior knowledge of the scene. Then, an informed sampling-based planner for the entire arm uses Jacobian-based steering to reach promising end effector poses given the task space guidance. This process is also comprehensive and allows the exploration of alternative paths over time if the task space guidance is misleading. This paper evaluates the proposed method against alternatives in picking or placing tasks among varying amounts of clutter for a variety of robotic manipulators with different end-effectors. The results suggest that the method reliably provides higher quality solution paths quicker, with a higher success rate relative to alternatives.     

Sparse Approximation of 3D Meshes Using the Spectral Geometry of the Hamiltonian Operator

The discrete Laplace operator is ubiquitous in spectral shape analysis, since its eigenfunctions are provably optimal in representing smooth functions defined on the surface of the shape. Indeed, subspaces defined by its eigenfunctions have been utilized for shape compression, treating the coordinates as smooth functions defined on the given surface. However, surfaces of shapes in nature often contain geometric structures for which the general smoothness assumption may fail to hold. At the other end, some explicit mesh compression algorithms utilize the order by which vertices that represent the surface are traversed, a property which has been ignored in spectral approaches. Here, we incorporate the order of vertices into an operator that defines a novel spectral domain. We propose a method for representing 3D meshes using the spectral geometry of the Hamiltonian operator, integrated within a sparse approximation framework. We adapt the concept of a potential function from quantum physics and incorporate vertex ordering information into the potential, yielding a novel data-dependent operator. The potential function modifies the spectral geometry of the Laplacian to focus on regions with finer details of the given surface. By sparsely encoding the geometry of the shape using the proposed data-dependent basis, we improve compression performance compared to previous results that use the standard Laplacian basis and spectral graph wavelets.     

Characterizing plasma mirrors near breakdown

Experiments dedicated to the characterization of plasma mirrors with a high energy, single shot short-pulse laser were performed at the 100 TW target area of the Z-Backlighter Facility at Sandia National Laboratories. A suite of beam diagnostics was used to characterize a high energy laser pulse with a large aperture through focus imaging setup. By varying the fluence on the plasma mirror around the plasma ignition threshold, critical performance parameters were determined and a more detailed understanding of the way in which a plasma mirror works could be deduced. It was found, that very subtle variations in the laser near field profile will have strong effects on the reflected pulse if the maximum fluence on the plasma mirror approaches the plasma ignition threshold.     

Low temperature ferroelectric behavior in morphotropic Pb (Zr1−xTix)O3

We provide an insight into the switching of near‐morphotropic composition of PZT, using molecular dynamics simulations and electrical measurements. The simulations and experiments exhibit qualitatively similar hysteretic behavior of the polarization for different temperatures showing widening of the P‐E loops and the decrease in the coercive field toward high temperatures. Remarkably, we have shown that polarization switching at low temperatures occurs via polarization rotation, that is a fundamentally different mechanism from high‐temperature switching, which is nucleation driven.     

Field intercomparison of the gas/particle partitioning of oxygenated organics during the Southern Oxidant and Aerosol Study (SOAS) in 2013

We present results of the first intercomparison of real-time instruments for gas/particle partitioning of organic species. Four recently-developed instruments that directly measure gas/particle partitioning in near-real time were deployed in Centreville, Alabama during the Southern Oxidant Aerosol Study (SOAS) in 2013. Two instruments were filter inlet for gases and aerosols high-resolution chemical ionization mass spectrometers (FIGAERO-HRToF-CIMS) with acetate (A-CIMS) and iodide (I-CIMS) ionization sources, respectively; the third was a semi-volatile thermal desorption aerosol GC-MS (SV-TAG); and the fourth was a high-resolution thermal desorption proton-transfer reaction mass spectrometer (HR-TD-PTRMS). Signals from these instruments corresponding to several organic acids were chosen for comparison. The campaign average partitioning fractions show good correlation. A similar level of agreement with partitioning theory is observed. Thus the intercomparison exercise shows promise for these new measurements, as well as some confidence on the measurement of low versus high particle-phase fractions. However, detailed comparison show several systematic differences that lie beyond estimated measurement errors. These differences may be due to at least eight different effects: (1) underestimation of uncertainties under low signal-to-noise; (2) inlet and/or instrument adsorption/desorption of gases; (3) differences in particle size ranges sampled; (4) differences in the methods used to quantify instrument backgrounds; (5) errors in high-resolution fitting of overlapping ion groups; (6) differences in the species included in each measurement due to different instrument sensitivities; and differences in (7) negative or (8) positive thermal decomposition (or ion fragmentation) artifacts. The available data are insufficient to conclusively identify the reasons, but evidence from these instruments and available data from an ion mobility spectrometer shows the particular importance of effects 6–8 in several cases. This comparison highlights the difficulty of this measurement and its interpretation in a complex ambient environment, and the need for further improvements in measurement methodologies, including isomer separation, and detailed study of the possible factors leading to the observed differences. Further intercomparisons under controlled laboratory and field conditions are strongly recommended.

Copyright © 2017 American Association for Aerosol Research     

Effects of transglutaminase-induced cross-linking on properties of fish gelatin–nanoclay composite film

A nanoclay composite film was produced using warm water fish gelatin as a base material and its physical, mechanical, and molecular weight change properties were observed after treatment with microbial transglutaminase. The viscosity of the MTGase-treated gelatin solution (2% w/w) increased from 86.25 ± 1.77 (0 min) to 243 ± 12.37 cp (80 min). SDS–PAGE results indicated that the molecular weight of fish gelatin solutions increased after treatment with microbial transglutaminase. Tensile strength decreased from 61.60 ± 1.77 (0 min) to 56.42 ± 2.40 MPa (30 min), while E% increased from 13.94 ± 5.09 (0 min) to 15.78 ± 5.97% (30 min) at 2% (w/w) MTGase concentration. The oxygen permeability and water vapour permeability did not change as a function of treatment time at 2% (w/w) MTGase concentration. The incorporation of nanoclay inhibited the increase of oxygen permeability. Film colour values (L, a, and b) did not change, but haze values increased from 5.24 ± 0.40 (0 min) to 6.44 ± 0.94 (50 min). XRD and TEM results suggested that the nanoclay was exfoliated in fish gelatin film.     

Field-deployable, high-resolution, time-of-flight aerosol mass spectrometer

The development of a new high-resolution time-of-flight aerosol mass spectrometer (HR-ToF-AMS) is reported. The high-resolution capabilities of this instrument allow the direct separation of most ions from inorganic and organic species at the same nominal m/z, the quantification of several types of organic fragments (CxHy, CxHyOz, CxHyNp, CxHyOzNp), and the direct identification of organic nitrogen and organosulfur content. This real-time instrument is field-deployable, and its high time resolution (0.5 Hz has been demonstrated) makes it well-suited for studies in which time resolution is critical, such as aircraft studies. The instrument has two ion optical modes: a single-reflection configuration offers higher sensitivity and lower resolving power (up to approximately 2100 at m/z 200), and a two-reflectron configuration yields higher resolving power (up to approximately 4300 at m/z 200) with lower sensitivity. The instrument also allows the determination of the size distributions of all ions. One-minute detection limits for submicrometer aerosol are <0.04 microg m(-3) for all species in the high-sensitivity mode and <0.4 microg m(-3) in the high-resolution mode. Examples of ambient aerosol data are presented from the SOAR-1 study in Riverside, CA, in which the spectra of ambient organic species are dominated by CxHy and CxHyOz fragments, and different organic and inorganic fragments at the same nominal m/z show different size distributions. Data are also presented from the MIRAGE C-130 aircraft study near Mexico City, showing high correlation with independent measurements of surrogate aerosol mass concentration.     

Thermal and nonthermal physiochemical processes in nanoscale films of amorphous solid water

Amorphous solid water (ASW) is a disordered version of ice created by vapor deposition onto a cold substrate (typically less than 130 K). It has a higher free energy than the crystalline phase of ice, and when heated above its glass transition temperature, it transforms into a metastable supercooled liquid. This unusual form of water exists on earth only in laboratories, after preparation with highly specialized equipment. It is thus fair to ask why there is any interest in studying such an esoteric material. Much of the scientific interest results from the ability to use ASW as a model system for exploring the physical and reactive properties of liquid water and aqueous solutions. ASW is also thought to be the predominant form of water in the extremely cold temperatures of many interstellar and planetary environments. In addition, ASW is a convenient model system for studying the stability of amorphous and glassy materials as well as the properties of highly porous materials. A fundamental understanding of such properties is invaluable in a diverse range of applications, including cryobiology, food science, pharmaceuticals, astrophysics, and nuclear waste storage, among others. Over the past 15 years, we have used molecular beams and surface science techniques to probe the thermal and nonthermal properties of nanoscale films of ASW. In this Account, we present a survey of our research on the properties of ASW using this approach. We use molecular beams to precisely control the deposition conditions (flux, incident energy, and incident angle) and create compositionally tailored, nanoscale films of ASW at low temperatures. To study the transport properties (viscosity and diffusivity), we heat the amorphous films above their glass transition temperature, T(g), at which they transform into deeply supercooled liquids prior to crystallization. The advantage of this approach is that at temperatures near T(g), the viscosity is approximately 15 orders of magnitude larger than that of a normal liquid. As a result, the crystallization kinetics are dramatically slowed, increasing the time available for experiments. For example, near T(g), a water molecule moves less than the distance of a single molecule on a typical laboratory time scale (～1000 s). For this reason, nanoscale films help to probe the behavior and reactions of supercooled liquids at these low temperatures. ASW films can also be used for investigating the nonthermal reactions relevant to radiolysis.     

Fast geodesic active contours

We use an unconditionally stable numerical scheme to implement a fast version of the geodesic active contour model. The proposed scheme is useful for object segmentation in images, like tracking moving objects in a sequence of images. The method is based on the Weickert-Romeney-Viergever (additive operator splitting) AOS scheme. It is applied at small regions, motivated by the Adalsteinsson-Sethian level set narrow band approach, and uses Sethian's (1996) fast marching method for re-initialization. Experimental results demonstrate the power of the new method for tracking in color movies.