GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Finger

This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more homogeneous output than previous vision-based tactile sensors. To achieve a compact integration, we redesign the optical path from illumination source to camera by combining light guides and an arrangement of mirror reflections. We parameterize the optical path with geometric design variables and describe the tradeoffs between the finger thickness, the depth of field of the camera, and the size of the tactile sensing area. The sensor sustains the wear from continuous use -- and abuse -- in grasping tasks by combining tougher materials for the compliant soft gel, a textured fabric skin, a structurally rigid body, and a calibration process that maintains homogeneous illumination and contrast of the tactile images during use. Finally, we evaluate the sensor's durability along four metrics that track the signal quality during more than 3000 grasping experiments.Comment: RA-L Pre-print. 8 page

Enabling error-resilient internet broadcasting using motion compensated spatial partitioning and packet FEC for the dirac video codec

Video transmission over the wireless or wired network require protection from channel errors since compressed video bitstreams are very sensitive to transmission errors because of the use of predictive coding and variable length coding. In this paper, a simple, low complexity and patent free error-resilient coding is proposed. It is based upon the idea of using spatial partitioning on the motion compensated residual frame without employing the transform coefficient coding. The proposed scheme is intended for open source Dirac video codec in order to enable the codec to be used for Internet broadcasting. By partitioning the wavelet transform coefficients of the motion compensated residual frame into groups and independently processing each group using arithmetic coding and Forward Error Correction (FEC), robustness to transmission errors over the packet erasure wired network could be achieved. Using the Rate Compatibles Punctured Code (RCPC) and Turbo Code (TC) as the FEC, the proposed technique provides gracefully decreasing perceptual quality over packet loss rates up to 30%. The PSNR performance is much better when compared with the conventional data partitioning only methods. Simulation results show that the use of multiple partitioning of wavelet coefficient in Dirac can achieve up to 8 dB PSNR gain over its existing un-partitioned method

UAV-Empowered Disaster-Resilient Edge Architecture for Delay-Sensitive Communication

The fifth-generation (5G) communication systems will enable enhanced mobile broadband, ultra-reliable low latency, and massive connectivity services. The broadband and low-latency services are indispensable to public safety (PS) communication during natural or man-made disasters. Recently, the third generation partnership project long term evolution (3GPPLTE) has emerged as a promising candidate to enable broadband PS communications. In this article, first we present six major PS-LTE enabling services and the current status of PS-LTE in 3GPP releases. Then, we discuss the spectrum bands allocated for PS-LTE in major countries by international telecommunication union (ITU). Finally, we propose a disaster resilient three-layered architecture for PS-LTE (DR-PSLTE). This architecture consists of a software-defined network (SDN) layer to provide centralized control, an unmanned air vehicle (UAV) cloudlet layer to facilitate edge computing or to enable emergency communication link, and a radio access layer. The proposed architecture is flexible and combines the benefits of SDNs and edge computing to efficiently meet the delay requirements of various PS-LTE services. Numerical results verified that under the proposed DR-PSLTE architecture, delay is reduced by 20% as compared with the conventional centralized computing architecture.Comment: 9,

Seeing the invisible: from imagined to virtual urban landscapes

Urban ecosystems consist of infrastructure features working together to provide services for inhabitants. Infrastructure functions akin to an ecosystem, having dynamic relationships and interdependencies. However, with age, urban infrastructure can deteriorate and stop functioning. Additional pressures on infrastructure include urbanizing populations and a changing climate that exposes vulnerabilities. To manage the urban infrastructure ecosystem in a modernizing world, urban planners need to integrate a coordinated management plan for these co-located and dependent infrastructure features. To implement such a management practice, an improved method for communicating how these infrastructure features interact is needed. This study aims to define urban infrastructure as a system, identify the systematic barriers preventing implementation of a more coordinated management model, and develop a virtual reality tool to provide visualization of the spatial system dynamics of urban infrastructure. Data was collected from a stakeholder workshop that highlighted a lack of appreciation for the system dynamics of urban infrastructure. An urban ecology VR model was created to highlight the interconnectedness of infrastructure features. VR proved to be useful for communicating spatial information to urban stakeholders about the complexities of infrastructure ecology and the interactions between infrastructure features.https://doi.org/10.1016/j.cities.2019.102559Published versio

Performance assessment of urban precinct design: a scoping study

Executive Summary: Significant advances have been made over the past decade in the development of scientifically and industry accepted tools for the performance assessment of buildings in terms of energy, carbon, water, indoor environment quality etc. For resilient, sustainable low carbon urban development to be realised in the 21st century, however, will require several radical transitions in design performance beyond the scale of individual buildings. One of these involves the creation and application of leading edge tools (not widely available to built environment professions and practitioners) capable of being applied to an assessment of performance across all stages of development at a precinct scale (neighbourhood, community and district) in either greenfield, brownfield or greyfield settings. A core aspect here is the development of a new way of modelling precincts, referred to as Precinct Information Modelling (PIM) that provides for transparent sharing and linking of precinct object information across the development life cycle together with consistent, accurate and reliable access to reference data, including that associated with the urban context of the precinct. Neighbourhoods are the ‘building blocks’ of our cities and represent the scale at which urban design needs to make its contribution to city performance: as productive, liveable, environmentally sustainable and socially inclusive places (COAG 2009). Neighbourhood design constitutes a major area for innovation as part of an urban design protocol established by the federal government (Department of Infrastructure and Transport 2011, see Figure 1). The ability to efficiently and effectively assess urban design performance at a neighbourhood level is in its infancy. This study was undertaken by Swinburne University of Technology, University of New South Wales, CSIRO and buildingSMART Australasia on behalf of the CRC for Low Carbon Living

Youthful Processing Speed in Older Adults: Genetic, Biological, and Behavioral Predictors of Cognitive Processing Speed Trajectories in Aging.

Objective: To examine the impact of genetic, inflammatory, cardiovascular, lifestyle, and neuroanatomical factors on cognitive processing speed (CPS) change over time in functionally intact older adults. Methods: This observational study conducted over two time points, included 120 community dwelling cognitively normal older adults between the ages of 60 and 80 from the University of California San Francisco Memory and Aging Center. Participants were followed with composite measures of CPS, calculated based on norms for 20-30 year-olds. Variables of interest were AD risk genes (APOE, CR1), markers of inflammation (interleukin 6) and cardiovascular health (BMI, LDL, HDL, mean arterial pressure, fasting insulin), self-reported physical activity, and corpus callosum (CC) volumes. The sample was divided into three groups: 17 "resilient-agers" with fast and stable processing speed; 56 "average-agers" with average and stable processing speed; and 47 "sub-agers" with average baseline speed who were slower at follow-up. Results: Resilient-agers had larger baseline CC volumes than sub-agers (p < 0.05). Resilient-agers displayed lower levels of interleukin-6 (IL-6) and insulin (ps < 0.05) than sub-agers, and reported more physical activity than both average- and sub-agers (ps < 0.01). In a multinomial logistic regression, physical activity and IL-6 predicted average- and sub-ager groups. Resilient-agers displayed a higher frequency of APOE e4 and CR1 AA/AG alleles. Conclusion: Robust and stable CPS is associated with larger baseline CC volumes, lower levels of inflammation and insulin, and greater self-reported physical activity. These findings highlight the relevance of neuroanatomical, biological, and lifestyle factors in the identification and prediction of heterogeneous cognitive aging change over time