Multispectral mapping of the lunar surface using groundbased telescopes

Images of the lunar surface were obtained at several wavelengths using a silicon vidicon imaging system and groundbased telescopes. These images were recorded and processed in digital form so that quantitative information is preserved. The photometric precision of the images is shown to be better than 1 percent. Ratio images calculated by dividing images obtained at two wavelengths (0.40/0.56 micrometer) and 0.95/0.56 micrometer are presented for about 50 percent of the lunar frontside. Spatial resolution is about 2 km at the sub-earth point. A complex of distinct units is evident in the images. Earlier work with the reflectance spectrum of lunar materials indicates that for the most part these units are compositionally distinct. Digital images of this precision are extremely useful to lunar geologists in disentangling the history of the lunar surface

The morphology of the female reproductive structures of Penonyx excavatus (Oligochaeta)

Perionyx excavatus (Oligochaeta) is a vermicomposting earthworm of which little is known regarding its reproductive strategies. This rs a second paper by the authors on the morphology of the reproductive structures in an attempt to reconcile the scanty and confusing literature on this topic and to investigate the possibility of self-fertilization. The investigation was done by examining the gross anatomy and histology, using scanning and transmission electron microscopy. The female reproductive system consists of three pairs of spermathecae rn segments seven, eight and nine. Each spermatheca consists of one ampulla and four sessile diverticula. The spermathecae open separately but midventrally in the intersegmental groove anterior to the segments in which they occur. One pair of ovaries is found in segment 13 The ova are released into the body cavity and are collected by the two ciliated ovum funnels, also in segment 13. The two short oviducts leading from the ovaries, join into a common oviduct. The common oviduct opens into the female opening, which is situated midventrally, anterior to the ring of body chaetae on segment 14

The morphology of the male reproductive structures of Perionyx excavatus (Oligochaeta)

Perionyx excavatus (Oligochaeta) is a vermicomposting earthworm of which the reproductive strategies are little known. In order to obtain more information on this, its reproductive systems were studied. Existing literature on the topic is either contradictory or scant. The investigation was done by examining the gross anatomy and histology, using scanning and transmission electron microscopy_ The male reproductive system consists of two pairs of testes in segments 10 and 11 and two pairs of seminal vesicles in segments 11 and 12. In mature worms the developing spermatozoa are released by the testis into the body cavities of segments 10 and 11. The seminal vesicles in a particular segment receive developing spermatozoa from the lumen of the preceding segment. Two pairs of ciliated sperm funnels also occur in segments 10 and 11 and become the ciliated vasa deferentia carrying the sperm. The vasa deferentia on each side fuse to form only one vas deferens. These vasa deferentia reach the pair of prostatic glands in segment 18, each joining the prostatic duct and opening via the ventral male openings adjacent to each other on segment 18. Associated with the male openings are retractable penial chaetae. The cellular composition and organelle distribution of some organs and structures are also described. The positions of the female reproductive structures are illustrated diagrammatically in this paper.S. Afr. J. Zool. 1997,32(3

Psychologists’ Diagnostic Processes during a Diagnostic Interview

In mental health care, psychologists assess clients’ complaints, analyze underlying problems, and identify causes for these problems, to make treatment decisions. We present a study on psychologists’ diagnostic processes, in which a mixed-method approach was employed. We aimed to identify a common structure in the diagnostic processes of different psychologists. We engaged an actor to simulate a client. Participants were asked to perform a diagnostic interview with this “client”. This interview was videotaped. Afterwards participants first wrote a report and then were asked to review their considerations during the interview. We found that psychologists were comprehensive in their diagnostic interviews. They addressed the client’s complaints, possible classifications, explanations, and treatments. They agreed about the classifications, more than about causal factors and treatment options. The content of the considerations differed between the interviews and the reports written afterwards. We conclude that psychologists continuously shifted between diagnostic activities and revised their decisions in line with the dynamics of the interview situatio

Instructing Hierarchical Tasks to Robots by Verbal Commands

Natural language is an effective tool for communication, as information can be expressed in different ways and at different levels of complexity. Verbal commands, utilized for instructing robot tasks, can therefor replace traditional robot programming techniques, and provide a more expressive means to assign actions and enable collaboration. However, the challenge of utilizing speech for robot programming is how actions and targets can be grounded to physical entities in the world. In addition, to be time-efficient, a balance needs to be found between fine- and course-grained commands and natural language phrases. In this work we provide a framework for instructing tasks to robots by verbal commands. The framework includes functionalities for single commands to actions and targets, as well as longer-term sequences of actions, thereby providing a hierarchical structure to the robot tasks. Experimental evaluation demonstrates the functionalities of the framework by human collaboration with a robot in different tasks, with different levels of complexity. The tools are provided open-source at https://petim44.github.io/voice-jogger/Comment: 7 pages, accepted to 16th IEEE/SICE International Symposium on System Integratio

Multi-label Annotation for Visual Multi-Task Learning Models

Deep learning requires large amounts of data, and a well-defined pipeline for labeling and augmentation. Current solutions support numerous computer vision tasks with dedicated annotation types and formats, such as bounding boxes, polygons, and key points. These annotations can be combined into a single data format to benefit approaches such as multi-task models. However, to our knowledge, no available labeling tool supports the export functionality for a combined benchmark format, and no augmentation library supports transformations for the combination of all. In this work, these functionalities are presented, with visual data annotation and augmentation to train a multi-task model (object detection, segmentation, and key point extraction). The tools are demonstrated in two robot perception use cases.Comment: 5 pages, accepted to IEEE International Conference on Robotic Computin

Co-speech gestures for human-robot collaboration

Collaboration between human and robot requires effective modes of communication to assign robot tasks and coordinate activities. As communication can utilize different modalities, a multi-modal approach can be more expressive than single modal models alone. In this work we propose a co-speech gesture model that can assign robot tasks for human-robot collaboration. Human gestures and speech, detected by computer vision and speech recognition, can thus refer to objects in the scene and apply robot actions to them. We present an experimental evaluation of the multi-modal co-speech model with a real-world industrial use case. Results demonstrate that multi-modal communication is easy to achieve and can provide benefits for collaboration with respect to single modal tools.Comment: 5 pages, accepted to IEEE International Conference on Robotics Computin