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.     

Development of a 3D HUD using a tunable bandpass filter for wavelength multiplexing

A 3D stereoscopic head‐up display using a tunable bandpass filter to perform left and right image spectral separation is presented. Using a single filter reduces the size and the cost of the head‐up display optical engine and enables each spectral band to be accurately tuned. Experiments performed on the first prototype demonstrate the ability to continuously tune the bandpass frequency on 30‐nm range while keeping a 20‐nm bandwidth. Such a system avoids the use of a bulky and costly rotating wheel and enables the use of holographic optical elements known to be wavelength selective.     

Iterative learning of grasp adaptation through human corrections

In the context of object interaction and manipulation, one characteristic of a robust grasp is its ability to comply with external perturbations applied to the grasped object while still maintaining the grasp. In this work, we introduce an approach for grasp adaptation which learns a statistical model to adapt hand posture solely based on the perceived contact between the object and fingers. Using a multi-step learning procedure, the model dataset is built by first demonstrating an initial hand posture, which is then physically corrected by a human teacher pressing on the fingertips, exploiting compliance in the robot hand. The learner then replays the resulting sequence of hand postures, to generate a dataset of posture-contact pairs that are not influenced by the touch of the teacher. A key feature of this work is that the learned model may be further refined by repeating the correction-replay steps. Alternatively, the model may be reused in the development of new models, characterized by the contact signatures of a different object. Our approach is empirically validated on the iCub robot. We demonstrate grasp adaptation in response to changes in contact, and show successful model reuse and improved adaptation with additional rounds of model refinement.     

Coupled dynamical system based arm–hand grasping model for learning fast adaptation strategies

Performing manipulation tasks interactively in real environments requires a high degree of accuracy and stability. At the same time, when one cannot assume a fully deterministic and static environment, one must endow the robot with the ability to react rapidly to sudden changes in the environment. These considerations make the task of reach and grasp difficult to deal with. We follow a Programming by Demonstration (PbD) approach to the problem and take inspiration from the way humans adapt their reach and grasp motions when perturbed. This is in sharp contrast to previous work in PbD that uses unperturbed motions for training the system and then applies perturbation solely during the testing phase. In this work, we record the kinematics of arm and fingers of human subjects during unperturbed and perturbed reach and grasp motions. In the perturbed demonstrations, the target’s location is changed suddenly after the onset of the motion. Data show a strong coupling between the hand transport and finger motions. We hypothesize that this coupling enables the subject to seamlessly and rapidly adapt the finger motion in coordination with the hand posture. To endow our robot with this competence, we develop a coupled dynamical system based controller, whereby two dynamical systems driving the hand and finger motions are coupled. This offers a compact encoding for reach-to-grasp motions that ensures fast adaptation with zero latency for re-planning. We show in simulation and on the real iCub robot that this coupling ensures smooth and “human-like” motions. We demonstrate the performance of our model under spatial, temporal and grasp type perturbations which show that reaching the target with coordinated hand–arm motion is necessary for the success of the task.     

Modulation of Cellular Fate of Vinyl Triarylamines through Structural Fine Tuning: To Stay or Not To Stay in the Mitochondria?

Mitochondria are involved in many cellular pathways and dysfunctional mitochondria are linked to various diseases. Hence efforts have been made to design mitochondria-targeted fluorophores for monitoring the mitochondrial status. However, the factors that govern the mitochondria-targeted potential of dyes are not well-understood. In this context, we synthesized analogues of the TP-2Bzim probe belonging to the vinyltriphenylamine (TPA) class and already described for its capacity to bind nuclear DNA in fixed cells and mitochondria in live cells. These analogues ( TP-1Bzim, TPⁿ-2Bzim, TP¹⁺-2Bzim, TN-2Bzim ) differ in the cationic charge, the number of vinylbenzimidazolium branches and the nature of the triaryl core. Using microscopy, we demonstrated that the cationic derivatives accumulate in mitochondria but do not reach mtDNA. Under depolarisation of the mitochondrial membrane, TP-2Bzim and TP¹⁺-2Bzim translocate to the nucleus in direct correlation with their strong DNA affinity. This reversible phenomenon emphasizes that these probes can be used to monitor ΔΨ_m variations.     

Molecular Cross-Talk between Gravity- and Light-Sensing Mechanisms in Euglena gracilis

Euglena gracilis is a photosynthetic flagellate. To acquire a suitable position in its surrounding aquatic environment, it exploits light and gravity primarily as environmental cues. Several physiological studies have indicated a fine-tuned relationship between gravity sensing (gravitaxis) and light sensing in E. gracilis. However, the underlying molecular mechanism is largely unknown. The photoreceptor photoactivated adenylyl cyclase (PAC) has been studied for over a decade. Nevertheless, no direct/indirect interaction partner (upstream/downstream) has been reported for PAC. It has been shown that a specific protein, kinase A (PKA), showed to be involved in phototaxis and gravitaxis. The current study reports the localization of the specific PKA and its relationship with PAC.     

Molecular dynamics simulations of dislocation interaction with voids in nickel

A high density of voids is expected to form in irradiated face centered cubic metals, which can have a negative impact on the ductility and cause an increasing strength. Molecular dynamics simulations of the interaction between gliding dissociated edge dislocations and voids in nickel have been performed to investigate the effect of the void size, the corresponding detachment mechanism, and dynamic effects of the dislocation on the obstacle strength. As expected, the void strength is observed to increase with increasing void size. The dislocation interaction and detachment process are determined by the applied shear stress, the repulsive interaction between partial dislocations and the image interaction between the partial dislocations and the void surface. For voids with a diameter smaller than 2 nm, the repulsive stress between the partials dominates, resulting in the detachment of the leading partial from the void while the trailing partial remains pinned. Consequently, the detachment process and obstacle strength are controlled by the trailing partial. For voids with a diameter larger than 2 nm, the attraction between the dissociated dislocations and the void dominates causing the detachment process and void strength to be influenced by both partials individually. This transition in detachment process at a void diameter of 2 nm is consistent with other research, and this transition is shown to be dependent on the void separation distance along the dislocation line and the dissociation distance between the partials, thus the stacking fault energy. Finally, by comparing the quasi-static and dynamic simulation results, an estimate for the static detachment stress is proposed in terms of the dynamic detachment stress and the dislocation velocity after detachment.     

Cognitive behavioral therapy for 4- to 7-year-old children with anxiety disorders: A randomized clinical trial.

Objective: To examine the efficacy of a developmentally appropriate parent–child cognitive behavioral therapy (CBT) protocol for anxiety disorders in children ages 4–7 years. Method: Design: Randomized wait-list controlled trial. Conduct: Sixty-four children (53% female, mean age 5.4 years, 80% European American) with anxiety disorders were randomized to a parent–child CBT intervention (n = 34) or a 6-month wait-list condition (n = 30). Children were assessed by interviewers blind to treatment assignment, using structured diagnostic interviews with parents, laboratory assessments of behavioral inhibition, and parent questionnaires. Analysis: Chi-square analyses of outcome rates and linear and ordinal regression of repeated measures, examining time by intervention interactions. Results: The response rate (much or very much improved on the Clinical Global Impression Scale for Anxiety) among 57 completers was 69% versus 32% (CBT vs. controls), p     

Studies on spinel cobaltites,MCo2O4 (M = Mn,Zn, Fe,Ni and Co) and their functional properties

Optimization of electrodes for charge storage with appropriate processing conditions places significant challenges in the developments for high performance charge storage devices. In this article, metal cobaltite spinels of formula MCo₂O₄ (where M = Mn, Zn, Fe, Ni and Co) are synthesized by oxalate decomposition method followed by calcination at three typical temperatures, viz. 350, 550, and 750 °C and examined their performance variation when used as anodes in lithium ion batteries. Phase and structure of the materials are studied by powder x-ray diffraction (XRD) technique. Single phase MnCo2O4,ZnCo2O4 and Co3O4 are obtained for all different temperatures 350 °C, 550 °C and 750 °C; whereas FeCo₂O₄ and NiCo₂O₄ contained their constituent binary phases even after repeated calcination. Morphologies of the materials are studied via scanning electron microscopy (SEM): needle-shaped particles of MnCo₂O₄ and ZnCo₂O₄, submicron sized particles of FeCo₂O₄ and agglomerated submicron particle of NiCo₂O₄ are observed. Galvanostatic cycling has been conducted in the voltage range 0.005–3.0 V vs. Li at a current density of 60 mA g^?1 up to 50 cycles to study their Li storage capabilities. Highest observed charge capacities are: MnCo₂O₄ – 365 mA h g^?1 (750 °C); ZnCo₂O₄ – 516 mA h g^?1 (550 °C); FeCo₂O₄ – 480 mA h g^?1 (550 °C); NiCo₂O₄ – 384 mA h g^?1 (750 °C); and Co₃O₄ – 675 mA h g^?1 (350 °C). The Co₃O₄ showed the highest reversible capacity of 675 mA h g^?1; the NiO present in NiCo₂O₄ acts as a buffer layer that results in improved cycling stability; the ZnCo₂O₄ with long needle-like shows good cycling stability.