Robotic grasping and manipulation through human visuomotor learning

A major goal of robotics research is to develop techniques that allow non-experts to teach robots dexterous skills. In this paper, we report our progress on the development of a framework which exploits human sensorimotor learning capability to address this aim. The idea is to place the human operator in the robot control loop where he/she can intuitively control the robot, and by practice, learn to perform the target task with the robot. Subsequently, by analyzing the robot control obtained by the human, it is possible to design a controller that allows the robot to autonomously perform the task. First, we introduce this framework with the ball-swapping task where a robot hand has to swap the position of the balls without dropping them, and present new analyses investigating the intrinsic dimension of the ball-swapping skill obtained through this framework. Then, we present new experiments toward obtaining an autonomous grasp controller on an anthropomorphic robot. In the experiments, the operator directly controls the (simulated) robot using visual feedback to achieve robust grasping with the robot. The data collected is then analyzed for inferring the grasping strategy discovered by the human operator. Finally, a method to generalize grasping actions using the collected data is presented, which allows the robot to autonomously generate grasping actions for different orientations of the target object.     

Quantitation by radioimmunoassay of PAF in human saliva

Approximately 75% of the PAF present in saliva is recovered on extraction of whole saliva (0.8 vol) with chloroform/methanol/water (2∶2∶1 v/v/v). PAF levels, determined by our recently developed radioimmunoassay, in saliva extracts ranged from 0.5–21 ng/mL with 59% between 2–6 ng/mL. These figures, for apparently healthy subjects, are higher than previously reported levels obtained by platelet assays. The validity of our radioimmunoassay results was checked by isolating and quantitating the PAF fraction from whole saliva. In addition, when we examined our saliva samples by platelet aggregation, low levels of PAF, comparable with the values found in the literature, were detected. Investigations revealed the presence of a substance(s) which inhibited PAF-induced platelet aggregation but which did not affect the radioimmunoassay.     

Numerical simulation on inclusion transport in continuous casting mold

Turbulent flow, the transpor＇t of inclusions and bubbles, and inclusion removal by fluid flow, transport and by bubble flotation in the strand of the continuous slab caster are investigated using computational models, and validated through comparison with plant measurements of inclusions. Steady 3-D flow of steel in the liquid pool in the mold and upper strand is simulated with a finitedifference computational model using the standard k-εturbulence rondel. Trajectories of inclusions and bubhles tire calculated by integrating each local velocity, considering its drag and buoyancy forces, A ＂random walk＂ model is used to incorporate the effect of turbulent fluctuations on the particle motion. The attachment probability of inclusions on a bubble surface is investigated based on fundamental fluid flow simulations, incorporating the turbulent inclusion trajectory and sliding time of each individual inclusion along the bubble surface as a function of particle and bubble size. The chunge in inclusion distribution due to removal by bubble transport in the mold is calculated based on the computed attachment probability of inclusions on each bubble and the computed path length of the bubbles. The results indicate that 6%-10% inclusions are removed by fluid flow transport. 10% by bubble flotation, and 4% by entrapment to the submerged entry nozzle （SEN） walls. Smaller bubbles and larger inclusions have larger attachment probabilities. Smaller bubbles are more efficient for inclusion removal by bubble flotation, so Inng as they are not entrapped in the solidifying shell A larger gas flow rate favors inclusion removal by bubble flotation. The optimum bubble size should be 2-4mm.     

不同的思维——苹果公司的Mac Mini电脑

苹果电脑公司把大量的计算能力都塞进了小巧玲珑的Mac Mini电脑中。苹果电脑公司经过仔细设计的Mac Mini是一个性能优越的、低噪声的、经济的计算机,但大小只有6．5英寸×6．5英寸×2英寸、重量不足3磅。想更深入地了解下面介绍的这些模块的特性,请访问www．edn．com/051216pe。感谢Other World Computing公司(www．otherowrldcomputing．com)提供的本篇报道所使用的高分辨率图片。     

Parameter Sensitivity and Predictive Uncertainty in a New Water Quality Model, Q2

A new dynamic model of water quality, Q2, has recently been developed, capable of simulating large branched river systems. This paper describes the application of a generalized sensitivity analysis (GSA) to Q2 for single reaches of the River Thames in southern England. Focusing on the simulation of dissolved oxygen (DO) (since this may be regarded as a proxy for the overall health of a river); the GSA is used to identify key parameters controlling model behavior and provide a probabilistic procedure for model calibration. It is shown that, in the River Thames at least, it is more important to obtain high quality forcing functions than to obtain improved parameter estimates once approximate values have been estimated. Furthermore, there is a need to ensure reasonable simulation of a range of water quality determinands, since a focus only on DO increases predictive uncertainty in the DO simulations. The Q2 model has been applied here to the River Thames, but it has a broad utility for evaluating other systems in Europe and around the world.     

Assessment and Early Instruction of Preschool Children at Risk for Reading Disability.

Preschool children at familial risk for reading disability were assessed on cognitive and linguistic variables and compared with preschoolers without familial risk. Risk children displayed performance profiles resembling those of older children with reading disability. Each group received intensive instruction in phonemic awareness and structured book reading. Instructed risk children made somewhat smaller gains than the nonrisk and required more teaching sessions to reach criterion. Rhyme and phoneme awareness predicted instruction outcome levels, and vocabulary and verbal short-term memory predicted number of teaching sessions to criterion. In kindergarten, the nonrisk group outperformed the risk group on reading and spelling, although the risk group reached grade-appropriate levels. At-risk children can be helped by appropriate preschool instruction, but they require more sustained teaching than nonrisk preschoolers. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

A Convergent-Divergent Approach to Context Processing, General Intellectual Functioning, and the Genetic Liability to Schizophrenia.

Convergent and divergent validity are critically important in developing psychological measures that reveal interpretable deficits in disordered populations. This article reports on 2 studies that evaluated the validity of context processing measures. In Experiment 1, a confirmatory factor analysis of data from 481 healthy adults established the convergent validity of 2 context processing measures and showed that context processing accounted for significant amounts of variance in standard IQ and working memory measures. In Experiment 2, 20 schizophrenia patients, 16 of their healthy siblings, and 28 controls were evaluated using a novel, short context processing measure, the dot pattern expectancy (DPX) task. The DPX was sensitive to specific deficits in schizophrenia patients and their healthy siblings. These findings support the construct validity of context processing measures, suggest context processing is a component of intellectual functioning, and demonstrate that brief context processing measures remain sensitive to psychopathological deficits. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Multivariate Modeling of Age and Retest in Longitudinal Studies of Cognitive Abilities.

Longitudinal multivariate mixed models were used to examine the correlates of change between memory and processing speed and the contribution of age and retest to such change correlates. Various age- and occasion-mixed models were fitted to 2 longitudinal data sets of adult individuals (N > 1,200). For both data sets, the results indicated that the correlation between the age slopes of memory and processing speed decreased when retest effects were included in the model. If retest effects existed in the data but were not modeled, the correlation between the age slopes was positively biased. The authors suggest that although the changes in memory and processing speed may be correlated over time, age alone does not capture such a covariation. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Functional Projection: How Fundamental Social Motives Can Bias Interpersonal Perception.

Results from 2 experimental studies suggest that self-protection and mate-search goals lead to the perception of functionally relevant emotional expressions in goal-relevant social targets. Activating a self-protection goal led participants to perceive greater anger in Black male faces (Study 1) and Arab faces (Study 2), both out-groups heuristically associated with physical threat. In Study 2, participants' level of implicit Arab-threat associations moderated this bias. Activating a mate-search goal led male, but not female, participants to perceive more sexual arousal in attractive opposite-sex targets (Study 1). Activating these goals did not influence perceptions of goal-irrelevant targets. Additionally, participants with chronic self-protective and mate-search goals exhibited similar biases. Findings are consistent with a functionalist, motivation-based account of interpersonal perception. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Moderators of the Relationship Between Implicit and Explicit Evaluation.

Automatic and controlled modes of evaluation sometimes provide conflicting reports of the quality of social objects. This article presents evidence for 4 moderators of the relationship between automatic (implicit) and controlled (explicit) evaluations. Implicit and explicit preferences were measured for a variety of object pairs using a large sample. The average correlation was r = .36, and 52 of the 57 object pairs showed a significant positive correlation. Results of multilevel modeling analyses suggested that (a) implicit and explicit preferences are related, (b) the relationship varies as a function of the objects assessed, and (c) at least 4 variables moderate the relationship: self-presentation, evaluative strength, dimensionality, and distinctiveness. The variables moderated implicit-explicit correspondence across individuals and accounted for much of the observed variation across content domains. The resulting model of the relationship between automatic and controlled evaluative processes is grounded in personal experience with the targets of evaluation. (PsycINFO Database Record (c) 2010 APA, all rights reserved)