10,283 research outputs found
Recovering from External Disturbances in Online Manipulation through State-Dependent Revertive Recovery Policies
Robots are increasingly entering uncertain and unstructured environments.
Within these, robots are bound to face unexpected external disturbances like
accidental human or tool collisions. Robots must develop the capacity to
respond to unexpected events. That is not only identifying the sudden anomaly,
but also deciding how to handle it. In this work, we contribute a recovery
policy that allows a robot to recovery from various anomalous scenarios across
different tasks and conditions in a consistent and robust fashion. The system
organizes tasks as a sequence of nodes composed of internal modules such as
motion generation and introspection. When an introspection module flags an
anomaly, the recovery strategy is triggered and reverts the task execution by
selecting a target node as a function of a state dependency chart. The new
skill allows the robot to overcome the effects of the external disturbance and
conclude the task. Our system recovers from accidental human and tool
collisions in a number of tasks. Of particular importance is the fact that we
test the robustness of the recovery system by triggering anomalies at each node
in the task graph showing robust recovery everywhere in the task. We also
trigger multiple and repeated anomalies at each of the nodes of the task
showing that the recovery system can consistently recover anywhere in the
presence of strong and pervasive anomalous conditions. Robust recovery systems
will be key enablers for long-term autonomy in robot systems. Supplemental info
including code, data, graphs, and result analysis can be found at [1].Comment: 8 pages, 8 figures, 1 tabl
Orally active antischistosomal early leads identified from the open access malaria box.
BACKGROUND: Worldwide hundreds of millions of schistosomiasis patients rely on treatment with a single drug, praziquantel. Therapeutic limitations and the threat of praziquantel resistance underline the need to discover and develop next generation drugs. METHODOLOGY: We studied the antischistosomal properties of the Medicines for Malaria Venture (MMV) malaria box containing 200 diverse drug-like and 200 probe-like compounds with confirmed in vitro activity against Plasmodium falciparum. Compounds were tested against schistosomula and adult Schistosoma mansoni in vitro. Based on in vitro performance, available pharmacokinetic profiles and toxicity data, selected compounds were investigated in vivo. PRINCIPAL FINDINGS: Promising antischistosomal activity (IC50: 1.4-9.5 µM) was observed for 34 compounds against schistosomula. Three compounds presented IC50 values between 0.8 and 1.3 µM against adult S. mansoni. Two promising early leads were identified, namely a N,N'-diarylurea and a 2,3-dianilinoquinoxaline. Treatment of S. mansoni infected mice with a single oral 400 mg/kg dose of these drugs resulted in significant worm burden reductions of 52.5% and 40.8%, respectively. CONCLUSIONS/SIGNIFICANCE: The two candidates identified by investigating the MMV malaria box are characterized by good pharmacokinetic profiles, low cytotoxic potential and easy chemistry and therefore offer an excellent starting point for antischistosomal drug discovery and development
Development of a fusion adaptive algorithm for marine debris detection within the post-Sandy restoration framework
Recognition of marine debris represent a difficult task due to the extreme variability of the marine environment, the possible targets, and the variable skill levels of human operators. The range of potential targets is much wider than similar fields of research such as mine hunting, localization of unexploded ordnance or pipeline detection. In order to address this additional complexity, an adaptive algorithm is being developing that appropriately responds to changes in the environment, and context.
The preliminary step is to properly geometrically and radiometrically correct the collected data. Then, the core engine manages the fusion of a set of statistically- and physically-based algorithms, working at different levels (swath, beam, snippet, and pixel) and using both predictive modeling (that is, a high-frequency acoustic backscatter model) and phenomenological (e.g., digital image processing techniques) approaches. The expected outcome is the reduction of inter-algorithmic cross-correlation and, thus, the probability of false alarm. At this early stage, we provide a proof of concept showing outcomes from algorithms that dynamically adapt themselves to the depth and average backscatter level met in the surveyed environment, targeting marine debris (modeled as objects of about 1-m size).
The project relies on a modular software library, called Matador (Marine Target Detection and Object Recognition)
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Soft Morphological Computation
Soft Robotics is a relatively new area of research, where progress in material science has powered the next generation of robots, exhibiting biological-like properties such as soft/elastic tissues, compliance, resilience and more besides. One of the issues when employing soft robotics technologies is the soft nature of the interactions arising between the robot and its environment. These interactions are complex, and the their dynamics are non-linear and hard to capture with known models. In this thesis we argue that complex soft interactions
can actually be beneficial to the robot, and give rise to rich stimuli which can be used for the resolution of robot tasks. We further argue that the usefulness of these interactions depends on statistical regularities, or structure, that appear in the stimuli. To this end, robots should appropriately employ their morphology and their actions, to influence the system-environment interactions such that structure can arise in the stimuli. In this thesis we show that learning processes can be used to perform such a task. Following this rationale, this thesis proposes and supports the theory of Soft Morphological Computation (SoMComp), by which a soft robot should appropriately condition, or ‘affect’, the soft interactions to improve the quality of the physical stimuli arising from it. SoMComp is composed of four main principles, i.e.: Soft Proprioception, Soft Sensing, Soft Morphology and Soft Actuation. Each of these principles is explored in the context of haptic object recognition or object handling in soft robots. Finally, this thesis provides an overview of this research and its future directions.AHDB CP17
On Neuromechanical Approaches for the Study of Biological Grasp and Manipulation
Biological and robotic grasp and manipulation are undeniably similar at the
level of mechanical task performance. However, their underlying fundamental
biological vs. engineering mechanisms are, by definition, dramatically
different and can even be antithetical. Even our approach to each is
diametrically opposite: inductive science for the study of biological systems
vs. engineering synthesis for the design and construction of robotic systems.
The past 20 years have seen several conceptual advances in both fields and the
quest to unify them. Chief among them is the reluctant recognition that their
underlying fundamental mechanisms may actually share limited common ground,
while exhibiting many fundamental differences. This recognition is particularly
liberating because it allows us to resolve and move beyond multiple paradoxes
and contradictions that arose from the initial reasonable assumption of a large
common ground. Here, we begin by introducing the perspective of neuromechanics,
which emphasizes that real-world behavior emerges from the intimate
interactions among the physical structure of the system, the mechanical
requirements of a task, the feasible neural control actions to produce it, and
the ability of the neuromuscular system to adapt through interactions with the
environment. This allows us to articulate a succinct overview of a few salient
conceptual paradoxes and contradictions regarding under-determined vs.
over-determined mechanics, under- vs. over-actuated control, prescribed vs.
emergent function, learning vs. implementation vs. adaptation, prescriptive vs.
descriptive synergies, and optimal vs. habitual performance. We conclude by
presenting open questions and suggesting directions for future research. We
hope this frank assessment of the state-of-the-art will encourage and guide
these communities to continue to interact and make progress in these important
areas
A model of brain morphological changes related to aging and Alzheimer's disease from cross-sectional assessments
In this study we propose a deformation-based framework to jointly model the
influence of aging and Alzheimer's disease (AD) on the brain morphological
evolution. Our approach combines a spatio-temporal description of both
processes into a generative model. A reference morphology is deformed along
specific trajectories to match subject specific morphologies. It is used to
define two imaging progression markers: 1) a morphological age and 2) a disease
score. These markers can be computed locally in any brain region. The approach
is evaluated on brain structural magnetic resonance images (MRI) from the ADNI
database. The generative model is first estimated on a control population,
then, for each subject, the markers are computed for each acquisition. The
longitudinal evolution of these markers is then studied in relation with the
clinical diagnosis of the subjects and used to generate possible morphological
evolution. In the model, the morphological changes associated with normal aging
are mainly found around the ventricles, while the Alzheimer's disease specific
changes are more located in the temporal lobe and the hippocampal area. The
statistical analysis of these markers highlights differences between clinical
conditions even though the inter-subject variability is quiet high. In this
context, the model can be used to generate plausible morphological trajectories
associated with the disease. Our method gives two interpretable scalar imaging
biomarkers assessing the effects of aging and disease on brain morphology at
the individual and population level. These markers confirm an acceleration of
apparent aging for Alzheimer's subjects and can help discriminate clinical
conditions even in prodromal stages. More generally, the joint modeling of
normal and pathological evolutions shows promising results to describe
age-related brain diseases over long time scales.Comment: NeuroImage, Elsevier, In pres
Backwards is the way forward: feedback in the cortical hierarchy predicts the expected future
Clark offers a powerful description of the brain as a prediction machine, which offers progress on two distinct levels. First, on an abstract conceptual level, it provides a unifying framework for perception, action, and cognition (including subdivisions such as attention, expectation, and imagination). Second, hierarchical prediction offers progress on a concrete descriptive level for testing and constraining conceptual elements and mechanisms of predictive coding models (estimation of predictions, prediction errors, and internal models)
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