Data-efficient learning of robotic clothing assistance using Bayesian Gaussian process latent variable model

ABSTRACT

Motor-skill learning for complex robotic tasks is a challenging problem due to the high task variability. Robotic clothing assistance is one such challenging problem that can greatly improve the quality-of-life for the elderly and disabled. In this study, we propose a data-efficient representation to encode task-specific motor-skills of the robot using Bayesian nonparametric latent variable models. The effectivity of the proposed motor-skill representation is demonstrated in two ways: (1) through a real-time controller that can be used as a tool for learning from demonstration to impart novel skills to the robot and (2) by demonstrating that policy search reinforcement learning in such a task-specific latent space outperforms learning in the high-dimensional joint configuration space of the robot. We implement our proposed framework in a practical setting with a dual-arm robot performing clothing assistance tasks.     

Analysis of flame structure using detailed chemistry and applicability of flamelet/progress variable model in the laminar counter-flow diffusion flames of pulverized coals

Pulverized coal is still found in many practical devices even though it is recognized as “dirty fuel” because of its CO₂ and pollutant emissions. To overcome this problem, advanced coal utilization technologies have been developed using numerical simulations. In this study, the structures of the laminar counter-flow diffusion flames of pulverized coals were investigated by performing simulations based on detailed chemistry. The high-temperature region became narrower as the coal/air ratio increased, because of the departure from the stoichiometric mixture and local quenching by the heat transfer between the gas and solid phases. Further, the applicability of the flamelet/progress-variable (FPV) model was investigated through a priori and a posteriori tests. The a priori test confirmed that the FPV model is capable of reproducing the numerical solutions obtained using the detailed chemistry, including the mass fractions of minor species. In the a posteriori test, there was a slight difference between the FPV model and detailed chemistry results due to overestimation of the progress of the chemical reactions. Given the sufficiently high accuracy of the FPV model in various numerical conditions, it can be concluded that the extended FPV model has potential for use in turbulent coal combustion simulations.     

Experimental validation of predictor-corrector approach based control schemes on the laboratory scale non-linear system

In this work, the authors have designed and implemented predictor-corrector approach based control schemes for a single input-single output nonlinear system. The controller output is computed in two steps. The first step explicitly uses a non-linear model or multiple-linear models weighted using fuzzy membership function to compute the value of the controller output. The second step is based on the measurement, where the value of the controller output computed in first step is updated. The extensive simulation studies show that the set-point tracking and disturbance rejection capability of the proposed control schemes are found to be satisfactory in the absence and presence of Model-plant mismatch. The performances of the proposed control schemes have been compared with that of a gain-scheduled PI controller. In addition, the control schemes are experimentally validated on the laboratory scale conical tank experimental setup.     

Inhibitory Monoclonal Antibodies and Their Recombinant Derivatives Targeting Surface-Exposed Carbonic Anhydrase XII on Cancer Cells

Monoclonal and recombinant antibodies are widely used for the diagnostics and therapy of cancer. They are generated to interact with cell surface proteins which are usually involved in the development and progression of cancer. Carbonic anhydrase XII (CA XII) contributes to the survival of tumors under hypoxic conditions thus is considered a candidate target for antibody-based therapy. In this study, we have generated a novel collection of monoclonal antibodies (MAbs) against the recombinant extracellular domain of CA XII produced in HEK-293 cells. Eighteen out of 24 MAbs were reactive with cellular CA XII on the surface of live kidney and lung cancer cells as determined by flow cytometry. One MAb 14D6 also inhibited the enzymatic activity of recombinant CA XII as measured by the stopped-flow assay. MAb 14D6 showed the migrastatic effect on human lung carcinoma A549 and renal carcinoma A498 cell lines in a ‘wound healing’ assay. It did not reduce the growth of multicellular lung and renal cancer spheroids but reduced the cell viability by the ATP Bioluminescence assay. Epitope mapping revealed the surface-exposed amino acid sequence (35-FGPDGENS-42) close to the catalytic center of CA XII recognized by the MAb 14D6. The variable regions of the heavy and light chains of MAb 14D6 were sequenced and their complementarity-determining regions were defined. The obtained variable sequences were used to generate recombinant antibodies in two formats: single-chain fragment variable (scFv) expressed in E. coli and scFv fused to human IgG1 Fc fragment (scFv-Fc) expressed in Chinese Hamster Ovary (CHO) cells. Both recombinant antibodies maintained the same specificity for CA XII as the parental MAb 14D6. The novel antibodies may represent promising tools for CA XII-related cancer research and immunotherapy.     

Temporal and spatial evolution measurement of laser-induced breakdown spectroscopy on hydrogen retention in tantalum

Fuel retention measurement on plasma-facing components is an active field of study in magnetic confinement nuclear fusion devices.The laser-induced breakdown spectroscopy(LIBS)diagnostic method has been well demonstrated to detect the elemental distribution in PFCs.In this work,an upgraded co-axis LIBS system based on a linear fiber bundle collection system has been developed to measure the hydrogen(H) retention on a tantalum(Ta) sample under a vacuum condition.The spatial resolution measurement of the different positions of the LIBS plasma can be achieved simultaneously with varying delay times.The temporal and spatial evolution results of LIBS plasma emission show that the H plasma observably expands from the delay times of 0-200 ns.The diameter of Ta plasma is about 6 mm which is much less than the size of H plasma after 200 ns.The difference in the temporal and spatial evolution behaviors between H plasma and Ta plasma is due to the great difference in the atomic mass of H and Ta.The depth profile result shows that H retention mainly exists on the surface of the sample.The temporal and spatial evolution behaviors of the electron excited temperature are consistent with that of the Ta emission.The result will further improve the understanding of the evolution of the dynamics of LIBS plasma and optimize the current collection system of in situ LIBS in fusion devices.     

高强铝合金双脉冲VPPA焊缝成形机理

建立双脉冲VPPA(variable polarity plasma arc)焊接系统，进行7A52高强铝合金双脉冲VPPA焊接工艺试验，研究低频脉冲调制叠加高频脉冲对VPPA焊接过程中焊缝成形和焊缝力学性能的影响. 结果表明，低频脉冲周期性振荡液态熔池，可获得表面饱满的鱼鳞纹焊缝；高频脉冲使电弧更为集中，有效地提高了电弧能量密度，穿透力加强；双脉冲耦合振荡加强了对熔池的搅动作用细化了铝合金焊缝晶粒. 焊接接头抗拉强度达到384.13 MPa，相比VPPA焊接接头强度提高了10.21%左右；焊接接头断面收缩率和断后伸长率均有一定程度的提高. 铝合金双脉冲VPPA焊接工艺提高了焊接接头力学性能.     

变厚度板中水平剪切波的传播特性分析

为研究超声导波在储罐壁板等变壁厚结构中的传播特性，建立了SH波在空间自由边界中的传播模型，基于各向同性弹性介质Navier-Stokes方程，推导了变厚度板中SH波的频散方程，分析了变厚度板中水平剪切波走时t与倾斜角θ间的相互作用关系；通过简谐点源的远场响应并引入板厚与传播位移的非线性关系，得出了变厚度板中SH波的远场响应方程。在此基础上，仿真分析和实验验证了水平剪切波在不同倾斜角变厚度板中的传播特性，结果表明：在变厚度板的薄端激励水平剪切波并沿结构表面传播时，无频散现象，且无波包分离现象；但随着变厚度板倾斜角θ增大，水平剪切波的走时和接收信号幅值均逐渐递减，且呈非线性关系。     

Gyrotactic microorganisms bioconvection in combined convective magnetohydrodynamic Casson nanofluid flow over a vertically surfaced saturated porous media with variable viscosity

The current article focuses on mass and thermal transfer analysis of a two-dimensional immovable combined convective nanofluid flow including motile microorganisms with temperature-dependent viscosity on top of a vertical plate through a porous medium, and a model has been developed to visualize the velocity slip impacts on a nonlinear partial symbiotic flow. The governed equations include all of the above physical conditions, and suitable nondimensional transfigurations are utilized to transfer the governed conservative equations to a nonlinear system of differential equations and obtain numerical solutions by using the Shooting method. Numerical studies have been focusing on the effects of intricate dimensionless parameters, namely, the Casson fluid parameter, Brownian motion parameter, thermophoresis parameter, Peclet number, bioconvection parameter, and Rayleigh number, which have all been studied on various profiles such as momentum, thermal, concentration, and density of microorganisms. The concentration boundary layer thickness and density of microorganisms increased as the Casson fluid parameter, Brownian and thermophoresis parameters increased, whereas the bioconvection parameter, Peclet number, and Rayleigh number increased. The thermal boundary layer thickness, concentration boundary layer thickness, and density of microorganisms all decreased. The velocity distribution decreases as the Peclet number, bioconvection, and thermophoresis parameters rise but rises as the Rayleigh number, Brownian motion parameter, and Casson fluid parameter rise. These are graphed via plots along with divergent fluid parameters.