A modular approach to learning manipulation strategies from human demonstration

Object manipulation is a challenging task for robotics, as the physics involved in object interaction is complex and hard to express analytically. Here we introduce a modular approach for learning a manipulation strategy from human demonstration. Firstly we record a human performing a task that requires an adaptive control strategy in different conditions, i.e. different task contexts. We then perform modular decomposition of the control strategy, using phases of the recorded actions to guide segmentation. Each module represents a part of the strategy, encoded as a pair of forward and inverse models. All modules contribute to the final control policy; their recommendations are integrated via a system of weighting based on their own estimated error in the current task context. We validate our approach by demonstrating it, both in a simulation for clarity, and on a real robot platform to demonstrate robustness and capacity to generalise. The robot task is opening bottle caps. We show that our approach can modularize an adaptive control strategy and generate appropriate motor commands for the robot to accomplish the complete task, even for novel bottles.     

An integration experience of a software architecture and a monitoring infrastructure to deploy applications with non‐functional requirements in computing grids

Resource management is an important aspect to consider regarding applications that might have different non‐functional or operational requirements, when running in distributed and heterogeneous environments. In this context, it is necessary to provide the means to specify the required resource constraints and an infrastructure that can adapt the applications in light of the changes in resource availability. We adopted a contract‐based approach to describe and maintain parallel applications that have non‐functional requirements in a Computing Grid context, called ZeliGrid. To form the supporting infrastructure we have designed a software architecture that integrates some of the Globus services, the LDAP and the NWS monitoring services. Some modules that map the contract approach into software artifacts were also integrated to this architecture. This paper addresses the architecture and integration issues of our approach, as well as how we put the pieces together highlighting deployment and implementation details, which have to consider diverse aspects such as monitoring, security and dynamic reconfiguration. Copyright © 2010 John Wiley & Sons, Ltd.     

A semiotic engineering approach to user interface design

Designing software involves good perception, good reasoning, and a talent to express oneself effectively through programming and interactive languages. Semiotic theories can help HCI designers increase their power to perceive, reason and communicate. By presenting some of the results we have reached with semiotic engineering over the last few years, we suggest that the main contributions of semiotic theory in supporting HCI design are: to provide designers with new perceptions on the process and product of HCI design; to bind together all the stages of software development and use, giving them a unique homogeneous treatment; and to pose innovative questions that extend the frontiers of HCI investigations.     

Analogues of capsaicin with agonist activity as novel analgesic agents; structure-activity studies. 3. The hydrophobic side-chain "C-region"

Structural variants of the hydrophobic side chain ("C region") of the capsaicin molecule have been incorporated into a series of vanillylamides and vanillylthioureas. These compounds have been tested in an in vitro assay for agonism (45Ca2+ influx into dorsal root ganglia neurones), previously shown to be predictive of analgesic activity. The results of this study have established the requirement for a hydrophobic substituent of limited size (molar refractivity, MR, < 55) in order to obtain high potency. Combination of the information gained here about the "C-region" of the capsaicin molecule with the studies described in the preceding two papers provides a rational basis for the design of compounds of increased potency.     

Two-dimensional pressure-temperature phase diagram and latent heats of neon adsorbed on exfoliated graphite

A two-dimensional pressure-temperature phase diagram was constructed for neon adsorbed on exfoliated graphite using the heat capacity data obtained in our laboratory for this system. The two-dimensional pressures at the triple and critical points were found to be _t=64×10^–6 N/m and _c=128×10^–6 N/m, respectively. From Clapeyron's equation and assuming an ideal behavior for the two-dimensional gas phase, the latent heat of sublimation was calculated as a function of temperature. The latent heat of vaporization was also calculated at the triple point and consequently the latent heat of fusion was found. The following values were obtained at the triple point:l _s/k=86 K,l _v/k=24 K, andl _f/k=62 K.     

A global search framework for practical three-dimensional packing with variable carton orientations

This article aims to tackle a practical three-dimensional packing problem, where a number of cartons of diverse sizes are to be packed into a bin with fixed length and width but open height. Each carton is allowed to be packed in any one of the six orientations, and the carton edges are parallel to the bin edges. The allowance of variable carton orientations exponentially increases the solution space and makes the problem very challenging to solve. This study first elaborately devises the packing procedure, which converts an arbitrary sequence of cartons into a compact packing solution and subsequently develops an improved genetic algorithm (IGA) to evolve a set of solutions. Moreover, a novel global search framework (GSF), utilizing the concept of evolutionary gradient, is proposed to further improve the solution quality. Numerical experiments indicate that IGA provides faster and better results and GSF demonstrates its superior performance, especially in solving relative large-size and heterogeneous instances. Applying the proposed algorithms to some benchmarking cases of the three-dimensional strip packing problem also indicates that the algorithms are robust and effective compared to existing methods in the literature.     

Spin-Resolved Local Density of States for an Anderson Adatom in a Ferromagnetic Island

In this work, we investigate theoretically the spin-resolved local density of states (SR-LDOS) of a ferromagnetic (FM) island hybridized with an adatom, which is described by the Single Impurity Anderson Model (SIAM). Our results are comparable with Scanning Tunneling Microscope (STM) experimental data.     

Inactivation of Neosartorya fischeri and Paecilomyces variotii on paperboard packaging material by hydrogen peroxide and heat

This study reports on the influence of heat and hydrogen peroxide combination on the inactivation kinetics of two heat resistant molds: Neosartorya fischeri and Paecilomyces variotii. Spores of different ages (1 and 4 months) of these molds were prepared and D-values (the time required at certain temperature/hydrogen peroxide combination to inactivate 90% of the mold ascospores) were determined using thermal death tubes. D-values found for P. variotii ranged from 1.2 to 25.1 s after exposure to different combinations of heat (40 or 60 °C) and hydrogen peroxide (35 or 40% w/w) while for N. fischeri they varied from 2.7 to 14.3 s after exposure to the same hydrogen peroxide concentrations and higher temperatures (60 or 70 °C). The influence of temperature and hydrogen peroxide concentration on the d-values varied with the genus of mold and their ages. A synergistic effect of heat and hydrogen peroxide in reducing D-values of Paecilomyces variotti and N. fischeri has been observed. In addition to strict control of temperature, time and hydrogen concentration, hygienic storage and handling of laminated paperboard material must be considered to reduce the probability of package’s contamination. All these measures together will ensure package’s sterility that is imperative for the effectiveness of aseptic processing and consequently to ensure the microbiological stability of processed foods during shelf-life.