Indoor robot gardening: design and implementation

This paper describes the architecture and implementation of a distributed autonomous gardening system with applications in urban/indoor precision agriculture. The garden is a mesh network of robots and plants. The gardening robots are mobile manipulators with an eye-in-hand camera. They are capable of locating plants in the garden, watering them, and locating and grasping fruit. The plants are potted cherry tomatoes enhanced with sensors and computation to monitor their well-being (e.g. soil humidity, state of fruits) and with networking to communicate servicing requests to the robots. By embedding sensing, computation, and communication into the pots, task allocation in the system is de-centrally coordinated, which makes the system scalable and robust against the failure of a centralized agent. We describe the architecture of this system and present experimental results for navigation, object recognition, and manipulation as well as challenges that lie ahead toward autonomous precision agriculture with multi-robot teams.     

Exploring Collections of Tagged Text for Literary Scholarship

Modern literary scholars must combine access to vast collections of text with the traditional close analysis of their field. In this paper, we discuss the design and development of tools to support this work. Based on analysis of the needs of literary scholars, we constructed a suite of visualization tools for the analysis of large collections of tagged text (i.e. text where one or more words have been annotated as belonging to a specific category). These tools unite the aspects of the scholars’ work: large scale overview tools help to identify corpus‐wide statistical patterns while fine scale analysis tools assist in finding specific details that support these observations. We designed visual tools that support and integrate these levels of analysis. The result is the first tool suite that can support the multilevel text analysis performed by scholars, combining standard visual elements with novel methods for selecting individual texts and identifying represenative passages in them.     

Distributed boundary coverage with a team of networked miniature robots using a robust market-based algorithm

We study distributed boundary coverage of known environments using a team of miniature robots. Distributed boundary coverage is an instance of the multi-robot task-allocation problem and has applications in inspection, cleaning, and painting among others. The proposed algorithm is robust to sensor and actuator noise, failure of individual robots, and communication loss. We use a market-based algorithm with known lower bounds on the performance to allocate the environmental objects of interest among the team of robots. The coverage time for systems subject to sensor and actuator noise is significantly shortended by on-line task re-allocation. The complexity and convergence properties of the algorithm are formally analyzed. The system performance is systematically analyzed at two different microscopic modeling levels, using agent-based, discrete-event and module-based, realistic simulators. Finally, results obtained in simulation are validated using a team of Alice miniature robots involved in a distributed inspection case study.     

Efficient Spotlight SAR MIMO Linear Collection Configurations

We describe how a family of synthetic aperture radar (SAR) platforms flying linearly and transmitting mutually orthogonal waveforms at a common pulse repetition frequency (PRF) constitute a multiple-input multiple output (MIMO) radar system that reduces time spent collecting a SAR image and quantify the efficiency of such sensor configurations. We give efficient collection configurations for up to 15 platforms as well as asymptotically optimally efficient sequences of configurations.      

HIV disease progression in Australia in the time of combination antiretroviral therapies

OBJECTIVE: To examine the effect of recent developments in antiretroviral therapy on HIV disease progression and survival. DESIGN: Retrospective cohort study. PARTICIPANTS AND SETTING: Two cohorts of people with HIV were defined retrospectively from the records of a large immunology laboratory. The first cohort were subjects whose CD4+ T cell counts had dropped to 200 x 10(6)/L during 1990, and the second were subjects whose CD4+ T cell counts had dropped to 200 x 10(6)/L in 1994. MAIN OUTCOME MEASURES: HIV disease progression and survival was determined over a minimum three years of follow-up for each cohort (i.e., 1990-1993; 1994-1997). RESULTS: 346 subjects were included in the analysis (193 subjects from 1990 and 153 from 1994). The relative risk of progression to AIDS in the 1994 cohort compared with the 1990 cohort was 0.57 (95% confidence interval, 0.35-0.91; P = 0.018) and the relative risk of death was 0.20 (95% confidence interval, 0.08-0.49; P < 0.001). CONCLUSIONS: There were 43% fewer AIDS cases and 80% fewer deaths in the time following the increased availability of combination antiretroviral therapy in Australia.     

Simultaneous detection of X- and Y-bearing human sperm by double fluorescence in situ hybridization

Double fluorescence in situ hybridization (FISH) was used to detect sex chromosomes in decondensed human sperm nuclei. Biotinylated X chromosome specific (TRX) and digoxigenin-labeled Y chromosome specific (HRY) probes were simultaneously hybridized to sperm preparations from 12 normal healthy donors. After the hybridization, the probes were detected immunocytochemically, using two different and independent affinity systems. Ninety-six percent of the 12,636 sperm showed fluorescent labeling, of which 47.4% were haploid X and 46.8% were haploid Y. A frequency of 0.46% of XX-bearing sperm (0.28% disomic, 0.18% diploid) and 0.38% YY-bearing sperm (0.21% disomic, 0.17% diploid) was found. The overall proportions of X- and Y-bearing sperm in the ejaculates were 47.9% and 47.2%, respectively, which was not significantly different from the expected 50:50 ratio. In addition 0.21% of cells appeared to be haploid XY-bearing sperm, 0.62% were diploid XY-bearing cells, and 0.05% of cells were considered to be tetraploid cells. The application of double FISH to human sperm using X-chromosome and Y-chromosome probes has allowed a more accurate assessment of the sex chromosal complements in sperm than single FISH method and quinacrine staining for Y-bodies.     

Evaluating psychological interns.

Forced-choice responses to a Behavioral Incidents Questionnaire by 283 clinical and counseling psychologists in both universities and field centers with APA-approved training programs indicate wide differences with regard to the level at which various intern behaviors are acceptable. Neither agencies nor universities consistently apply more lenient standards. It is time to confront the issue of intern evaluation with the view of making standards more uniformly meaningful. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Autonomous industrial assembly using force,torque, and RGB-D sensing

ABSTRACT

We present algorithms and results for a robotic manipulation system that was designed to be easily programable and adaptable to various tasks common to industrial setting, which is inspired by the Industrial Assembly Challenge at the 2018 World Robotics Summit in Tokyo. This challenge included assembly of standard, commercially available industrial parts into 2D and 3D assemblies. We demonstrate three tasks that can be classified into ‘peg-in-hole’ and ‘hole-on-peg’ tasks and identify two canonical algorithms: spiral-based search and tilting insertion. Both algorithms use hand-coded thresholds in the force and torque domains to detect critical points in the assembly. After briefly summarizing the state of the art in research, we describe the strategy and approach utilized by the tested system, how it's design bears on its performance, statistics on 20 experimental trials for each task, lessons learned during the development of the system, and open research challenges that still remain.     

Beam plasma neutron sources based on beam-driven mirror

The design and performance of a relatively low-cost, plasma-based, 14-MeV D-T neutron source for accelerated end-of-life testing of fusion reactor materials are described in this article. An intense flux (up to 5×10¹⁸ n/m²·s) of 14-MeV neutrons is produced in a fully-ionized high-density tritium target (n _e 3×10²¹ m^–3) by injecting a current of 150-keV deuterium atoms. The tritium plasma target and the energetic D⁺ density produced by D⁰ injection are confined in a column of diameter 0.16 m by a linear magnet set, which provides magnetic fields up to 12 T. Energy deposited by transverse injection of neutral beams at the midpoint of the column is conducted along the plasma column to the end regions. Longitudinal plasma pressure in the column is balanced by neutral gas pressure in the end tanks. The target plasma temperature is about 200 eV at the beam-injection position and falls to 5 eV or less in the end region. Ions reach the walls with energies below the sputtering threshold, and the wall temperature is maintained below 740 K by conventional cooling technology.