Textile Taxonomy and Classification Using Pulling and Twisting

Identification of textile properties is an important milestone toward advanced robotic manipulation tasks that consider interaction with clothing items such as assisted dressing, laundry folding, automated sewing, textile recycling and reusing. Despite the abundance of work considering this class of deformable objects, many open problems remain. These relate to the choice and modelling of the sensory feedback as well as the control and planning of the interaction and manipulation strategies. Most importantly, there is no structured approach for studying and assessing different approaches that may bridge the gap between the robotics community and textile production industry. To this end, we outline a textile taxonomy considering fiber types and production methods, commonly used in textile industry. We devise datasets according to the taxonomy, and study how robotic actions, such as pulling and twisting of the textile samples, can be used for the classification. We also provide important insights from the perspective of visualization and interpretability of the gathered data

Ensemble Latent Space Roadmap for Improved Robustness in Visual Action Planning

Planning in learned latent spaces helps to decrease the dimensionality of raw observations. In this work, we propose to leverage the ensemble paradigm to enhance the robustness of latent planning systems. We rely on our Latent Space Roadmap (LSR) framework, which builds a graph in a learned structured latent space to perform planning. Given multiple LSR framework instances, that differ either on their latent spaces or on the parameters for constructing the graph, we use the action information as well as the embedded nodes of the produced plans to define similarity measures. These are then utilized to select the most promising plans. We validate the performance of our Ensemble LSR (ENS-LSR) on simulated box stacking and grape harvesting tasks as well as on a real-world robotic T-shirt folding experiment

Breakfast and exercise contingently affect postprandial metabolism and energy balance in physically active males

The present study examined the impact of breakfast and exercise on postprandial metabolism, appetite and macronutrient balance. A sample of twelve (blood variables n 11) physically active males completed four trials in a randomised, crossover design comprising a continued overnight fast followed by: (1) rest without breakfast (FR); (2) exercise without breakfast (FE); (3) breakfast consumption(1859 kJ) followed by rest (BR); (4) breakfast consumption followed by exercise (BE). Exercise was continuous, moderate-intensity running (expending approximately 2·9MJ of energy). The equivalent time was spent sitting during resting trials. A test drink (1500 kJ) was ingested on all trials followed 90 min later by an ad libitum lunch. The difference between the BR and FR trials in blood glucose time-averaged AUC following test drink consumption approached significance (BR: 4·33 (SEM 0·14) v. FR: 4·75 (SEM 0·16) mmol/l; P¼0·08); but it was not different between FR and FE (FE: 4·77 (SEM 0·14) mmol/l; P¼0·65); and was greater in BE (BE: 4·97 (SEM 0·13) mmol/l) v. BR(P¼0·012). Appetite following the test drink was reduced in BR v. FR (P¼0·006) and in BE v. FE (P¼0·029). Following lunch, the most positive energy balance was observed in BR and least positive in FE. Regardless of breakfast, acute exercise produced a less positive energy balance following ad libitum lunch consumption. Energy and fat balance is further reduced with breakfast omission. Breakfast improved the overall appetite responses to foods consumed later in the day, but abrogated the appetite suppressive effect of exercise

Augment-Connect-Explore: a Paradigm for Visual Action Planning with Data Scarcity

Visual action planning particularly excels in applications where the state of the system cannot be computed explicitly, such as manipulation of deformable objects, as it enables planning directly from raw images. Even though the field has been significantly accelerated by deep learning techniques, a crucial requirement for their success is the availability of a large amount of data. In this work, we propose the Augment-Connect-Explore (ACE) paradigm to enable visual action planning in cases of data scarcity. We build upon the Latent Space Roadmap (LSR) framework which performs planning with a graph built in a low dimensional latent space. In particular, ACE is used to i) Augment the available training dataset by autonomously creating new pairs of datapoints, ii) create new unobserved Connections among representations of states in the latent graph, and iii) Explore new regions of the latent space in a targeted manner. We validate the proposed approach on both simulated box stacking and real-world folding task showing the applicability for rigid and deformable object manipulation tasks, respectively

The DiskSat: A Two-Dimensional Containerized Satellite

A key factor in the remarkable expansion of the CubeSat class of spacecraft over the past two decades is launch containerization. The container protects the launch vehicle and primary payload from issues that might arise from the CubeSat (which is essential for rideshare), and the standardized and highly-simplified launch interface reduces integration cost for the launch provider and development cost for the CubeSat builder. The downside of containerization is that the size of the contained satellites is rigidly limited. While there are available designs for larger dispensers and CubeSats, very few CubeSats larger than 6U have flown, and none have been larger than 16U. Future space missions will benefit from more power and RF aperture, beyond what can be provided by conventional CubeSats, even with complex deployables. We propose here the DiskSat, a containerized, large-aperture, quasi-two-dimensional satellite bus architecture. A representative DiskSat structure is a composite flat panel, one meter in diameter and 2.5 cm thick, to which components are affixed in a flat pattern within the panel. The volume of the representative DiskSat is almost 20 liters, comparable to a hypothetical 20U CubeSat, while the structural mass can be less than 2.5 kg. The surface area of a single disk face is substantially larger than the total surface area of any conventional CubeSat, supporting over 200 W of peak solar power without the complexity of deployables, thereby improving mission assurance and reducing vehicle cost. Alternatively, a single fixed deployable panel can ensure that the vehicle has over 100 W orbit-average power while maintaining nadir pointing in any beta angle. For launch, multiple DiskSats are stacked in a fully-enclosed container/dispenser using a simple mechanical interface, and are released individually once in orbit. Stacking of 20 or more DiskSats is possible in small launch vehicles, making it ideal for building large constellations of small satellites in multiple discrete orbital planes. The 1-m-diameter DiskSat was developed with the Rocket Lab Electron in mind; the concept can be extended to larger diameters (1.2 m for the Virgin LauncherOne, for example), or to other flat shapes (square for an ESPA port, for example), and to greater thicknesses if the mission requires it. The DiskSat concept was developed as a cost-effective solution for a LEO constellation that required significant power and RF aperture. Since then we have explored the utility of the bus architecture for a broad range of missions including Earth observation and space science, among others. One particularly useful feature of the DiskSat is the high power-to-mass ratio, enabling high-delta-v electric propulsion missions, including deep-space applications. Another feature is the ability to fly in a low-drag orientation which, in combination with electric propulsion for drag makeup, enables flight at very low altitudes in LEO. This paper will detail the design of the DiskSat and its dispenser, will explore the range of missions enabled by the DiskSat, and will describe current development activities in support of a DiskSat demonstration flight

Estimating the burden of minor ailment consultations in general practices and emergency departments through retrospective review of routine data in North East Scotland

Minor ailment attendances in general practices and emergency departments (EDs) place significant burden on health care resources

Colorectal Cancer Screening in Switzerland: Cross-Sectional Trends (2007-2012) in Socioeconomic Disparities.

BACKGROUND: Despite universal health care coverage, disparities in colorectal cancer (CRC) screening by income in Switzerland have been reported. However, it is not known if these disparities have changed over time. This study examines the association between socioeconomic position and CRC screening in Switzerland between 2007 and 2012. METHODS: Data from the 2007 (n = 5,946) and 2012 (n = 7,224) population-based Swiss Health Interview Survey data (SHIS) were used to evaluate the association between monthly household income, education, and employment with CRC screening, defined as endoscopy in the past 10 years or fecal occult blood test (FOBT) in the past 2 years. Multivariable Poisson regression was used to estimate prevalence ratios (PR) and 95% Confidence Intervals (CI) adjusting for demographics, health status, and health utilization. RESULTS: CRC screening increased from 18.9% in 2007 to 22.2% in 2012 (padjusted: = 0.036). During the corresponding time period, endoscopy increased (8.2% vs. 15.0%, padjusted:<0.001) and FOBT decreased (13.0% vs. 9.8%, padjusted:0.002). CRC screening prevalence was greater in the highest income (>$6,000) vs. lowest income (≤$2,000) group in 2007 (24.5% vs. 10.5%, PR:1.37, 95%CI: 0.96-1.96) and in 2012 (28.6% vs. 16.0%, PR:1.45, 95%CI: 1.09-1.92); this disparity did not significantly change over time. CONCLUSIONS: While CRC screening prevalence in Switzerland increased from 2007 to 2012, CRC screening coverage remains low and disparities in CRC screening by income persisted over time. These findings highlight the need for increased access to CRC screening as well as enhanced awareness of the benefits of CRC screening in the Swiss population, particularly among low-income residents

Enabling Robot Manipulation of Soft and Rigid Objects with Vision-based Tactile Sensors

Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost vision-based tactile sensors and propose a manipulation algorithm that adapts to both rigid and soft objects without requiring any knowledge of their properties. The algorithm relies on a touch and slip detection method, which considers the variation in the tactile images with respect to reference ones. We validate the approach on seven different objects, with different properties in terms of rigidity and fragility, to perform unplugging and lifting tasks. Furthermore, to enhance applicability, we combine the manipulation algorithm with a grasp sampler for the task of finding and picking a grape from a bunch without damaging~it.Comment: Published in IEEE International Conference on Automation Science and Engineering (CASE2023

Substance Misuse Education for Physicians: Why Older People are Important.

This perspective article focuses on the need for training and education for undergraduate medical students on substance-related disorders, and describes initiatives undertaken in the United Kingdom (UK), Netherlands, United States (US), and Norway to develop the skills, knowledge, and attitudes needed by future doctors to treat patients adequately. In addition, we stress that in postgraduate training, further steps should be taken to develop Addiction Medicine as a specialized and transverse medical domain. Alcohol use disorder is a growing public health problem in the geriatric population, and one that is likely to continue to increase as the baby boomer generation ages. Prescription drug misuse is a major concern, and nicotine misuse remains problematic in a substantial minority. Thus, Addiction Medicine training should address the problems for this specific population. In recent years, several countries have started an Addiction Medicine specialty. Although addiction psychiatry has been a subspecialty in the UK and US for more than 20 years, in most countries it has been a more recent development. Additional courses on addiction should be integrated into the curriculum at both undergraduate and postgraduate levels, as well as form part of the continuous training of other medical specialists. It is recommended that further research and mapping of what is currently taught in medical programs be undertaken, so as to enhance medical education in addiction and improve treatment services

Latent Space Roadmap for Visual Action Planning of Deformable and Rigid Object Manipulation

We present a framework for visual action planning of complex manipulation tasks with high-dimensional state spaces such as manipulation of deformable objects. Planning is performed in a low-dimensional latent state space that embeds images. We define and implement a Latent Space Roadmap (LSR) which is a graph-based structure that globally captures the latent system dynamics. Our framework consists of two main components: a Visual Foresight Module (VFM) that generates a visual plan as a sequence of images, and an Action Proposal Network (APN) that predicts the actions between them. We show the effectiveness of the method on a simulated box stacking task as well as a T-shirt folding task performed with a real robot.Comment: Project website: https://visual-action-planning.github.io/lsr