Towards adaptive and autonomous humanoid robots: from vision to actions

Although robotics research has seen advances over the last decades robots are still not in widespread use outside industrial applications. Yet a range of proposed scenarios have robots working together, helping and coexisting with humans in daily life. In all these a clear need to deal with a more unstructured, changing environment arises. I herein present a system that aims to overcome the limitations of highly complex robotic systems, in terms of autonomy and adaptation. The main focus of research is to investigate the use of visual feedback for improving reaching and grasping capabilities of complex robots. To facilitate this a combined integration of computer vision and machine learning techniques is employed. From a robot vision point of view the combination of domain knowledge from both imaging processing and machine learning techniques, can expand the capabilities of robots. I present a novel framework called Cartesian Genetic Programming for Image Processing (CGP-IP). CGP-IP can be trained to detect objects in the incoming camera streams and successfully demonstrated on many different problem domains. The approach requires only a few training images (it was tested with 5 to 10 images per experiment) is fast, scalable and robust yet requires very small training sets. Additionally, it can generate human readable programs that can be further customized and tuned. While CGP-IP is a supervised-learning technique, I show an integration on the iCub, that allows for the autonomous learning of object detection and identification. Finally this dissertation includes two proof-of-concepts that integrate the motion and action sides. First, reactive reaching and grasping is shown. It allows the robot to avoid obstacles detected in the visual stream, while reaching for the intended target object. Furthermore the integration enables us to use the robot in non-static environments, i.e. the reaching is adapted on-the- fly from the visual feedback received, e.g. when an obstacle is moved into the trajectory. The second integration highlights the capabilities of these frameworks, by improving the visual detection by performing object manipulation actions

Spherical nanoindentation – advancements and prospects towards its application as a multifunctional testing technique

With the development of modern high-performance materials and components, cases increase where conventional testing techniques used for the mechanical characterization miss their target. Material fabrication at a bench scale, miniaturization and not least cost-effectiveness yearn for a highly reliable, fast and highly automatable testing technique. Even though uniaxial micromechanical tests on micro-pillars or -tensile samples are well suitable for the extraction of flow curves, they face the problem of elaborate specimen manufacturing. Spherical nanoindentation could be a candidate technique to overcome the mentioned drawbacks, since time needed for sample preparation is tremendously reduced. The present study will outline solutions of existing problems, which may lay the foundation for spherical nanoindentation to become a widely-used testing technique. Main objections concerning tip imperfections will be resolved by modifying the calibration procedure, and validated on a broad spectrum of materials independent of the indenter tip radius. Once the actual tip shape is available, displacement-time profiles can be designed to guarantee constant strain-rates during testing and thus permit the determination of the strain-rate sensitivity for rate-dependent materials. Finally, the comparison between nanoindentation flow curves and uniaxial tests will evidence that spherical indentation is a highly reliable technique for the extensive mechanical characterization of modern high-performance materials and show its high potential as a multifunctional standard testing technique. Please click Additional Files below to see the full abstract

RNxQuest: An Extension to the xQuest Pipeline Enabling Analysis of Protein–RNA Cross-Linking/Mass Spectrometry Data

Cross-linking and mass spectrometry (XL-MS) workflows are increasingly popular techniques for generating low-resolution structural information about interacting biomolecules. xQuest is an established software package for analysis of protein–protein XL-MS data, supporting stable isotope-labeled cross-linking reagents. Resultant paired peaks in mass spectra aid sensitivity and specificity of data analysis. The recently developed cross-linking of isotope-labeled RNA and mass spectrometry (CLIR-MS) approach extends the XL-MS concept to protein–RNA interactions, also employing isotope-labeled cross-link (XL) species to facilitate data analysis. Data from CLIR-MS experiments are broadly compatible with core xQuest functionality, but the required analysis approach for this novel data type presents several technical challenges not optimally served by the original xQuest package. Here we introduce RNxQuest, a Python package extension for xQuest, which automates the analysis approach required for CLIR-MS data, providing bespoke, state-of-the-art processing and visualization functionality for this novel data type. Using functions included with RNxQuest, we evaluate three false discovery rate control approaches for CLIR-MS data. We demonstrate the versatility of the RNxQuest-enabled data analysis pipeline by also reanalyzing published protein–RNA XL-MS data sets that lack isotope-labeled RNA. This study demonstrates that RNxQuest provides a sensitive and specific data analysis pipeline for detection of isotope-labeled XLs in protein–RNA XL-MS experiments

The impact of regulation on (eco)-innovation within the UK's private and public sector

EThOS - Electronic Theses Online ServiceGBUnited Kingdo

Investigating thermally activated deformation mechanisms by high temperature nanoindentation – A Study on W-Re alloys

Since the advent of indentation at elevated temperatures the technique of high-temperature nanoindentation has been further developed, currently enabling testing temperatures above 1000 °C. Due to small sample sizes and a variety of different testing techniques this method provides the opportunity for alloy development at a new level regarding composition variety or efficiency. In this study the thermally activated deformation mechanisms in binary W-Re alloys will be investigated by using a high-end in-situ nanoindenter. For that purpose, three different materials were tested, namely commercially pure W, W5Re and W10Re, all of them in both, coarse grained and ultra-fine grained condition. Nanoindentation experiments were conducted from ambient temperatures up to 800 °C, thereby overcoming the critical temperature TC of tungsten at around 450 °C. With temperature increments of 100 °C a large range of the normalized temperature with respect to TC is covered, allowing general conclusions regarding the appearing deformation mechanisms in bcc metals. Additionally to constant indentation strain rate tests, strain rate jump tests were utilized to determine the mechanical properties and to evaluate the impact of temperature and microstructure on rate-dependent parameters. A strong influence of the alloying level with Re as well as the grain size on both, the thermal and athermal contribution to the flow stress, is observed. The origin and effects, such as solid solution softening for W5Re at temperatures far below TC, will be discussed in detail. Furthermore, the dominating deformation mechanisms in dependence of temperature and grain size are determined. In the coarse grained materials a change in deformation processes from kink-pair mechanism to dislocation-dislocation interaction at higher temperatures can be observed, while in ultra-fine grained materials grain boundary/dislocation interactions are responsible for the maintained time-dependent mechanical behavior

A comprehensive study on the deformation behavior of ultra-fine grained and ultra-fine porous Au at elevated temperatures

Modern design and engineering of highly efficient devices and machines demand innovative materials to satisfy requirements such as high strength at low density. The purpose of this study was to compare mechanical properties and deformation behavior of ultra-fine grained Au and its ultra-fine porous counterpart, both fabricated from the same base material. Microstructural investigations of the foam surrendered a ligament size of approximately 100 nm consisting of ~60 nm grains in average. The ultra-fine grained Au features a mean grain size of 250 nm. Nanoindentation is a convenient technique to obtain materials properties at ambient but also at non-ambient conditions and elevated temperatures. In this work, a broad indentation test series was performed in order to determine hardness, Young’s modulus, strain-rate sensitivity, and activation volume between room and elevated temperatures up to 300 °C for both materials. Due to the small characteristic dimensions, high hardness values were noted for both materials, which rapidly drop at elevated temperatures. In addition, an enhanced strain-rate sensitivity accompanied by low activation volumes was determined, increasing with elevated temperatures for both states. This can clearly be associated with interactions between dislocations and interphases. Moreover, for ultra-fine porous Au, a considerable increase of hardness was observed after annealing, which potentially can be attributed to starvation of mobile dislocations not occurring in the ultra-fine grained state. Cross-sections of indentations in ultra-fine porous Au combined with quantitative analysis of the resulting porosity maps allow visualizing the occurring deformation of the foam properly, showing distinct differences for tests at varying conditions. While the as-fabricated material exhibits distributed plasticity underneath the indent, this changes to strongly localized failure events in the annealed condition. At increased temperature, the deformation morphology reverts to more distributed deformation favored by the additional thermal activation

Взаємодія напівпровідників типу АІІІВV з розчинами Н2О2 - НВr

To plan complex motions of robots with many degrees of freedom, our novel, very flexible framework builds task-relevant roadmaps (TRMs), using a new sampling-based optimizer called Natural Gradient Inverse Kinematics (NGIK) based on natural evolution strategies (NES). To build TRMs, NGIK iteratively optimizes postures covering task-spaces expressed by arbitrary task-functions, subject to constraints expressed by arbitrary cost-functions, transparently dealing with both hard and soft constraints. TRMs are grown to maximally cover the task-space while minimizing costs. Unlike Jacobian-based methods, our algorithm does not rely on calculation of gradients, making application of the algorithm much simpler. We show how NGIK outperforms recent related sampling algorithms. A <font color="blue"><a href="http://youtu.be/N6x2e1Zf_yg">video demo</a></font> successfully applies TRMs to an iCub humanoid robot with 41 DOF in its upper body, arms, hands, head, and eyes. To our knowledge, no similar methods exhibit such a degree of flexibility in defining movements

Exploring the mechanical character of molybdenum grain boundaries via nanoindentation and three-point-bending

The interactions of interfaces with dislocations have been extensively studied in the past. Still, there is a lack of high throughput methods, which can potentially be used for systematic studies to cover a wide range of grain boundary types. Nanoindentation offers the opportunity to combine a high spatial resolution with high effectiveness, thus enabling to obtain comprehensive mechanical data in the vicinity of grain boundaries. The present study on coarse-grained molybdenum will show results of mechanical property mapping near grain boundaries. Here, for the first time also the indenter tip rotation angle with respect to the loading axis as well as the grain orientation are considered. Results will show that neglecting these parameters can bias interpretations of the interface/dislocation interactions, as the localized deformation paths around the indentation are thereby significantly changed. Systematic experiments on commercially pure, recrystallized molybdenum have been performed to investigate the dependence of the hardness increase near grain boundaries with respect to the boundary misorientation angle. As a complementary method, three-point-bending is applied on mm-sized specimens until individual grain boundaries delaminate, which in turn will be identified and cross-checked with findings of the nanoindentation tests. Doping molybdenum with elements like carbon and/or boron is known to suppress intercrystalline failure. For this reason, the presented grain boundary characterization methods will be applied to extract mechanical changes caused by these doping elements

Thermally activated processes in materials probed by nanoindentation - challenges, solutions, and insights

Nanoindentation experiments are widely used for assessing the local mechanical properties of materials. In recent years some new exciting developments were established for also analyzing thermally activated processes during deformation using indentation based techniques, namely nanoindentation strain rate jump and nanoindentation long term creep tests. For these different methods, control of the indenter tip movement as well as determination of the correct contact conditions are hugely important to assure reliable data. In fact, long term nanoindentation tests are prone to be strongly influenced by thermal drift, starting at room temperature but even more intensified for elevated temperatures. This talk will first focus on experimental issues and challenges, but also solutions during advanced nanoindentation testing to overcome thermal drift influences, as demonstrated for fused silica and ultra-fine grained (ufg) Au. Special focus will be on high temperature testing, different testing methodologies will be described, and it will be demonstrated how distinct indentation time and indentation depths related errors influence the basic results. In the second part different results on single crystal (sx) and ufg Cr but also on the intermetallic phase Mg17Al12 are presented. For Mg17Al12, it was observed that the deformation behavior, especially in terms of thermally activated processes, is significantly changing over temperature. While at room temperature up to 125°C deformation is dominated by jerky flow and a slight negative strain-rate sensitivity due to dislocation pinning and the Portevin - Le Chatelier effect, overcoming 150°C the material behaves remarkably different. In this regime the indentation data show significant ductile deformation behavior with large pile-up formation and a pronounced strain rate sensitivity in the superplastic regime, where the deformation is sustained by dislocation glide and climb. Sx and ufg Cr also show significant changes in deformation behavior with temperature. At ambient conditions, both microstructures show an enhanced strain-rate sensitivity due to the large thermally activated component in the flow stress. Overcoming the materials specific temperature Tc (~150°C for Cr) the behavior changes. For sx Cr the apparent strain-rate sensitivity diminishes completely, while for the ufg state the strain-rate sensitivity increases due to the increased importance of dislocation – grain boundary interactions paired with a change in the dominating deformation mechanism