Learning to Navigate Cloth using Haptics

We present a controller that allows an arm-like manipulator to navigate deformable cloth garments in simulation through the use of haptic information. The main challenge of such a controller is to avoid getting tangled in, tearing or punching through the deforming cloth. Our controller aggregates force information from a number of haptic-sensing spheres all along the manipulator for guidance. Based on haptic forces, each individual sphere updates its target location, and the conflicts that arise between this set of desired positions is resolved by solving an inverse kinematic problem with constraints. Reinforcement learning is used to train the controller for a single haptic-sensing sphere, where a training run is terminated (and thus penalized) when large forces are detected due to contact between the sphere and a simplified model of the cloth. In simulation, we demonstrate successful navigation of a robotic arm through a variety of garments, including an isolated sleeve, a jacket, a shirt, and shorts. Our controller out-performs two baseline controllers: one without haptics and another that was trained based on large forces between the sphere and cloth, but without early termination.Comment: Supplementary video available at https://youtu.be/iHqwZPKVd4A. Related publications http://www.cc.gatech.edu/~karenliu/Robotic_dressing.htm

Collective effects in cellular structure formation mediated by compliant environments: a Monte Carlo study

Compliant environments can mediate interactions between mechanically active cells like fibroblasts. Starting with a phenomenological model for the behaviour of single cells, we use extensive Monte Carlo simulations to predict non-trivial structure formation for cell communities on soft elastic substrates as a function of elastic moduli, cell density, noise and cell position geometry. In general, we find a disordered structure as well as ordered string-like and ring-like structures. The transition between ordered and disordered structures is controlled both by cell density and noise level, while the transition between string- and ring-like ordered structures is controlled by the Poisson ratio. Similar effects are observed in three dimensions. Our results suggest that in regard to elastic effects, healthy connective tissue usually is in a macroscopically disordered state, but can be switched to a macroscopically ordered state by appropriate parameter variations, in a way that is reminiscent of wound contraction or diseased states like contracture.Comment: 45 pages, 7 postscript figures included, revised version accepted for publication in Acta Biomateriali

Whisking with robots from rat vibrissae to biomimetic technology for active touch

This article summarizes some of the key features of the rat vibrissal system, including the actively controlled sweeping movements of the vibrissae known as whisking, and reviews the past and ongoing research aimed at replicating some of this functionality in biomimetic robots

Split-beam echosounder observations of natural methane seep variability in the northern Gulf of Mexico

A method for positioning and characterizing plumes of bubbles from marine gas seeps using an 18 kHz scientific split-beam echo sounder (SBES) was developed and applied to acoustic observations of plumes of presumed methane gas bubbles originating at approximately 1400 m depth in the northern Gulf of Mexico. A total of 161 plume observations from 27 repeat surveys were grouped by proximity into 35 clusters of gas vent positions on the seafloor. Profiles of acoustic target strength per vertical meter of plume height were calculated with compensation for both the SBES beam pattern and the geometry of plume ensonification. These profiles were used as indicators of the relative fluxes and fates of gas bubbles acoustically observable at 18 kHz and showed significant variability between repeat observations at time intervals of 1 h–7.5 months. Active gas venting was observed during approximately one third of the survey passes at each cluster. While gas flux is not estimated directly in this study owing to lack of bubble size distribution data, repeat surveys at active seep sites showed variations in acoustic response that suggest relative changes in gas flux of up to 1 order of magnitude over time scales of hours. The minimum depths of acoustic plume observations at 18 kHz averaged 875 m and frequently coincided with increased amplitudes of acoustic returns in layers of biological scatterers, suggesting acoustic masking of the gas bubble plumes in these layers. Minimum plume depth estimates were limited by the SBES field of view in only five instances

On the conservation of the slow conformational dynamics within the amino acid kinase family: NAGK the paradigm

N-Acetyl-L-Glutamate Kinase (NAGK) is the structural paradigm for examining the catalytic mechanisms and dynamics of amino acid kinase family members. Given that the slow conformational dynamics of the NAGK (at the microseconds time scale or slower) may be rate-limiting, it is of importance to assess the mechanisms of the most cooperative modes of motion intrinsically accessible to this enzyme. Here, we present the results from normal mode analysis using an elastic network model representation, which shows that the conformational mechanisms for substrate binding by NAGK strongly correlate with the intrinsic dynamics of the enzyme in the unbound form. We further analyzed the potential mechanisms of allosteric signalling within NAGK using a Markov model for network communication. Comparative analysis of the dynamics of family members strongly suggests that the low-frequency modes of motion and the associated intramolecular couplings that establish signal transduction are highly conserved among family members, in support of the paradigm sequence→structure→dynamics→function © 2010 Marcos et al