Robot Control based on Motor Primitives -- A Comparison of Two Approaches

Motor primitives are fundamental building blocks of a controller which enable dynamic robot behavior with minimal high-level intervention. By treating motor primitives as basic "modules," different modules can be sequenced or superimposed to generate a rich repertoire of motor behavior. In robotics, two distinct approaches have been proposed: Dynamic Movement Primitives (DMPs) and Elementary Dynamic Actions (EDAs). While both approaches instantiate similar ideas, significant differences also exist. This paper attempts to clarify the distinction and provide a unifying view by delineating the similarities and differences between DMPs and EDAs. We provide eight robot control examples, including sequencing or superimposing movements, managing kinematic redundancy and singularity, obstacle avoidance, and managing physical interaction. We show that the two approaches clearly diverge in their implementation. We also discuss how DMPs and EDAs might be combined to get the best of both approaches. With this detailed comparison, we enable researchers to make informed decisions to select the most suitable approach for specific robot tasks and applications.Comment: 22 pages, 11 figure

Exp[licit]-A Robot modeling Software based on Exponential Maps

$$Deriving a robot's equation of motion typically requires placing multiple coordinate frames, commonly using the Denavit-Hartenberg convention to express the kinematic and dynamic relationships between segments. This paper presents an alternative using the differential geometric method of Exponential Maps, which reduces the number of coordinate frame choices to two. The traditional and differential geometric methods are compared, and the conceptual and practical differences are detailed. The open-source software, Exp[licit], based on the differential geometric method, is introduced. It is intended for use by researchers and engineers with basic knowledge of geometry and robotics. Code snippets and an example application are provided to demonstrate the benefits of the differential geometric method and assist users to get started with the software.Comment: 8 pages, 5 figure

First Measurement of the 64Ni(gamma,n)63Ni Cross Section

Copyright owned by the author(s) under the terms of the Creative Commons Attribution-Non Commercial-ShareAlike LicenceIn the past 10 years new and more accurate stellar neutron capture cross section measurements have changed and improved the abundance predictions of the weak s process. Among other elements in the region between iron and strontium, most of the copper abundance observed today in the solar system distribution was produced by the s process in massive stars. However, experimental data for the stellar 63Ni(n,gamma)64Ni cross section are still missing, but is strongly required for a reliable prediction of the copper abundances. 63Ni (t1/2 =101.2 a) is a branching point and also bottleneck in the weak s process flow, and abehaves differently during core He and shell C burning. During core He burning the reaction flow proceeds via beta-decay to 63Cu, and a change of the 63Ni(n,gamma)64Ni cross section would have no influence. However, this behavior changes at higher temperatures and neutron densities during the shell C burning phase. Under these conditions, a significant amount of the s process nucleosynthesis flow is passing through the channel 62Ni(n,gamma)63Ni(n,gamma)64Ni. At present only theoretical estimates are available for the 63Ni(n,gamma)64Ni cross section. The corresponding uncertainty affects the production of 63Cu in present s process nucleosynthesis calculations and propagates to the abundances of the heavier species up to A=70. So far, experimental information is also missing for the inverse 64Ni(gamma,n) channel. We have measured for the first time the 64Ni(gamma,n)63Ni cross section and also combined for the first time successfully the photoactivation technique with subsequent Accelerator Mass Spectrometry (AMS). The activations at the ELBE facility in Dresden-Rossendorf were followed by the 63Ni/64Ni determination with AMS at the MLL accelerator laboratory in Garching. First results indicate that theoretical predictions have overestimated this cross section up to now. If this also holds for the inverse channel 63Ni(n,gamma)64Ni, more 63Ni is accumulated during the high neutron density regime of the C shell that will contribute to the final abundance of 63Cu by radiogenic decay. In this case, also a lower s process efficiency is expected for the heavier species along the neutron capture path up to the Ga-Ge regio

Solving the stellar 62Ni problem with AMS

An accurate knowledge of the neutron capture cross sections of 62,63Ni is crucial since both isotopes take key positions which affect the whole reaction flow in the weak s process up to A=90. No experimental value for the 63Ni(n,gamma) cross section exists so far, and until recently the experimental values for 62Ni(n,gamma) at stellar temperatures (kT=30 keV) ranged between 12 and 37 mb. This latter discrepancy could now be solved by two activations with following AMS using the GAMS setup at the Munich tandem accelerator which are also in perfect agreement with a recent time-of-flight measurement. The resulting (preliminary) Maxwellian cross section at kT=30 keV was determined to be 30keV = 23.4 +/- 4.6 mb. Additionally, we have measured the 64Ni(gamma,n)63Ni cross section close to threshold. Photoactivations at 13.5 MeV, 11.4 MeV and 10.3 MeV were carried out with the ELBE accelerator at Forschungszentrum Dresden-Rossendorf. A first AMS measurement of the sample activated at 13.5 MeV revealed a cross section smaller by more than a factor of 2 compared to NON-SMOKER predictions.Comment: Proceedings of the 11th International Conference on Accelerator Mass Spectrometry in Rome, Sept. 14-19, 2008; to be published in Nucl. Instr. Meth.

Epigenetics as a mechanism driving polygenic clinical drug resistance

Aberrant methylation of CpG islands located at or near gene promoters is associated with inactivation of gene expression during tumour development. It is increasingly recognised that such epimutations may occur at a much higher frequency than gene mutation and therefore have a greater impact on selection of subpopulations of cells during tumour progression or acquisition of resistance to anticancer drugs. Although laboratory-based models of acquired resistance to anticancer agents tend to focus on specific genes or biochemical pathways, such 'one gene : one outcome' models may be an oversimplification of acquired resistance to treatment of cancer patients. Instead, clinical drug resistance may be due to changes in expression of a large number of genes that have a cumulative impact on chemosensitivity. Aberrant CpG island methylation of multiple genes occurring in a nonrandom manner during tumour development and during the acquisition of drug resistance provides a mechanism whereby expression of multiple genes could be affected simultaneously resulting in polygenic clinical drug resistance. If simultaneous epigenetic regulation of multiple genes is indeed a major driving force behind acquired resistance of patients' tumour to anticancer agents, this has important implications for biomarker studies of clinical outcome following chemotherapy and for clinical approaches designed to circumvent or modulate drug resistance

Measurement of the strong interaction induced shift and width of the 1s state of kaonic deuterium at J-PARC

The antikaon-nucleon interaction close to threshold provides crucial information on the interplay between spontaneous and explicit chiral symmetry breaking in low-energy QCD. In this context the importance of kaonic deuterium X-ray spectroscopy has been well recognized, but no experimental results have yet been obtained due to the difficulty of the measurement. We propose to measure the shift and width of the kaonic deuterium 1s state with an accuracy of 60 eV and 140 eV respectively at J-PARC. These results together with the kaonic hydrogen data (KpX at KEK, DEAR and SIDDHARTA at DAFNE) will then permit the determination of values of both the isospin I=0 and I=1 antikaon-nucleon scattering lengths and will provide the most stringent constraints on the antikaon-nucleon interaction, promising a breakthrough. Refined Monte Carlo studies were performed, including the investigation of background suppression factors for the described setup. These studies have demonstrated the feasibility of determining the shift and width of the kaonic deuterium atom 1s state with the desired accuracy of 60 eV and 140 eV.Comment: 12 pages, 9 figure

dSETDB1 and SU(VAR)3–9 Sequentially Function during Germline-Stem Cell Differentiation in Drosophila melanogaster

Germline-stem cells (GSCs) produce gametes and are thus true “immortal stem cells”. In Drosophila ovaries, GSCs divide asymmetrically to produce daughter GSCs and cystoblasts, and the latter differentiate into germline cysts. Here we show that the histone-lysine methyltransferase dSETDB1, located in pericentric heterochromatin, catalyzes H3-K9 trimethylation in GSCs and their immediate descendants. As germline cysts differentiate into egg chambers, the dSETDB1 function is gradually taken over by another H3-K9-specific methyltransferase, SU(VAR)3–9. Loss-of-function mutations in dsetdb1 or Su(var)3–9 abolish both H3K9me3 and heterochromatin protein-1 (HP1) signals from the anterior germarium and the developing egg chambers, respectively, and cause localization of H3K9me3 away from DNA-dense regions in most posterior germarium cells. These results indicate that dSETDB1 and SU(VAR)3–9 act together with distinct roles during oogenesis, with dsetdb1 being of particular importance due to its GSC-specific function and more severe mutant phenotype

Roles for H2A.Z and Its Acetylation in GAL1 Transcription and Gene Induction, but Not GAL1-Transcriptional Memory

H2A.Z does not appear to have a role in GAL1 transcriptional memory, but it does have both acetylation-dependent and acetylation-independent roles in GAL1 induction and expression