Force/Torque Sensing for Soft Grippers using an External Camera

Robotic manipulation can benefit from wrist-mounted force/torque (F/T) sensors, but conventional F/T sensors can be expensive, difficult to install, and damaged by high loads. We present Visual Force/Torque Sensing (VFTS), a method that visually estimates the 6-axis F/T measurement that would be reported by a conventional F/T sensor. In contrast to approaches that sense loads using internal cameras placed behind soft exterior surfaces, our approach uses an external camera with a fisheye lens that observes a soft gripper. VFTS includes a deep learning model that takes a single RGB image as input and outputs a 6-axis F/T estimate. We trained the model with sensor data collected while teleoperating a robot (Stretch RE1 from Hello Robot Inc.) to perform manipulation tasks. VFTS outperformed F/T estimates based on motor currents, generalized to a novel home environment, and supported three autonomous tasks relevant to healthcare: grasping a blanket, pulling a blanket over a manikin, and cleaning a manikin's limbs. VFTS also performed well with a manually operated pneumatic gripper. Overall, our results suggest that an external camera observing a soft gripper can perform useful visual force/torque sensing for a variety of manipulation tasks.Comment: Accepted for presentation at 2023 IEEE International Conference on Robotics and Automation (ICRA

Visual Contact Pressure Estimation for Grippers in the Wild

Sensing contact pressure applied by a gripper can benefit autonomous and teleoperated robotic manipulation, but adding tactile sensors to a gripper's surface can be difficult or impractical. If a gripper visibly deforms, contact pressure can be visually estimated using images from an external camera that observes the gripper. While researchers have demonstrated this capability in controlled laboratory settings, prior work has not addressed challenges associated with visual pressure estimation in the wild, where lighting, surfaces, and other factors vary widely. We present a model and associated methods that enable visual pressure estimation under widely varying conditions. Our model, Visual Pressure Estimation for Robots (ViPER), takes an image from an eye-in-hand camera as input and outputs an image representing the pressure applied by a soft gripper. Our key insight is that force/torque sensing can be used as a weak label to efficiently collect training data in settings where pressure measurements would be difficult to obtain. When trained on this weakly labeled data combined with fully labeled data that includes pressure measurements, ViPER outperforms prior methods, enables precision manipulation in cluttered settings, and provides accurate estimates for unseen conditions relevant to in-home use.Comment: Accepted for presentation at the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023

An analysis of trends, frequencies and factors influencing the development of resistance to phosphine in the red flour beetle Tribolium castaneum (Herbst) in Australia

Although resistance to phosphine, the key disinfestant used worldwide in the stored grain environment has been an ongoing industry issue, studies on its trend over large geographic region and over long period of time is very limited. In this study, we critically analysed 20 years' phosphine resistance diagnosis data for the red flour beetle Tribolium castaneum (Herbst) stored in the Australian Grain Insect Resistance Database. Resistance diagnosis on a staggering 6336 samples, along with information on storage types and treatment history was interrogated to establish trends and frequencies of resistance development in this species and factors that may have contributed towards these resistance occurences. Using descriptive statistics, linear and trend analysis and a well established Bayesian hurdle model, we determined that strong resistance in T. castaneum was significantly more prevalent in quarantine intereceptions than in central storages and on farms. The strong resistance incidences had been confined to eastern states of Queensland, New South Wales, Victoria and South Australia, whereas it is yet to be detected in the state of Western Australia. We could not establish any significant correlation between the strong resistance development and any commodity or treatments. After an initial increasing trend in incidences since the first detection of strong resistance in 1997 in this species, the frequency was stabilised during 2001–08; after which there had been an upward trend since 2009 till the last survey in 2013. The conclusions derived from this analyses highlighted the importance of a resistance monitoring program with relevant information being used in Australia as the basis for ongoing and future phosphine resistance management strategies. This research may also proved valuable towards devising similar strategies in overseas countries with phosphine resistance problems

On the communication cost of entanglement transformations

We study the amount of communication needed for two parties to transform some given joint pure state into another one, either exactly or with some fidelity. Specifically, we present a method to lower bound this communication cost even when the amount of entanglement does not increase. Moreover, the bound applies even if the initial state is supplemented with unlimited entanglement in the form of EPR pairs, and the communication is allowed to be quantum mechanical. We then apply the method to the determination of the communication cost of asymptotic entanglement concentration and dilution. While concentration is known to require no communication whatsoever, the best known protocol for dilution, discovered by Lo and Popescu [Phys. Rev. Lett. 83(7):1459--1462, 1999], requires a number of bits to be exchanged which is of the order of the square root of the number of EPR pairs. Here we prove a matching lower bound of the same asymptotic order, demonstrating the optimality of the Lo-Popescu protocol up to a constant factor and establishing the existence of a fundamental asymmetry between the concentration and dilution tasks. We also discuss states for which the minimal communication cost is proportional to their entanglement, such as the states recently introduced in the context of ``embezzling entanglement'' [W. van Dam and P. Hayden, quant-ph/0201041].Comment: 9 pages, 1 figure. Added a reference and some further explanations. In v3 some arguments are given in more detai

Visual Estimation of Fingertip Pressure on Diverse Surfaces using Easily Captured Data

People often use their hands to make contact with the world and apply pressure. Machine perception of this important human activity could be widely applied. Prior research has shown that deep models can estimate hand pressure based on a single RGB image. Yet, evaluations have been limited to controlled settings, since performance relies on training data with high-resolution pressure measurements that are difficult to obtain. We present a novel approach that enables diverse data to be captured with only an RGB camera and a cooperative participant. Our key insight is that people can be prompted to perform actions that correspond with categorical labels describing contact pressure (contact labels), and that the resulting weakly labeled data can be used to train models that perform well under varied conditions. We demonstrate the effectiveness of our approach by training on a novel dataset with 51 participants making fingertip contact with instrumented and uninstrumented objects. Our network, ContactLabelNet, dramatically outperforms prior work, performs well under diverse conditions, and matched or exceeded the performance of human annotators

AAV2-mediated in vivo immune gene therapy of solid tumours

Abstract Background Many strategies have been adopted to unleash the potential of gene therapy for cancer, involving a wide range of therapeutic genes delivered by various methods. Immune therapy has become one of the major strategies adopted for cancer gene therapy and seeks to stimulate the immune system to target tumour antigens. In this study, the feasibility of AAV2 mediated immunotherapy of growing tumours was examined, in isolation and combined with anti-angiogenic therapy. Methods Immune-competent Balb/C or C57 mice bearing subcutaneous JBS fibrosarcoma or Lewis Lung Carcinoma (LLC) tumour xenografts respectively were treated by intra-tumoural administration of AAV2 vector encoding the immune up-regulating cytokine granulocyte macrophage-colony stimulating factor (GM-CSF) and the co-stimulatory molecule B7-1 to subcutaneous tumours, either alone or in combination with intra-muscular (IM) delivery of AAV2 vector encoding Nk4 14 days prior to tumour induction. Tumour growth and survival was monitored for all animals. Cured animals were re-challenged with tumourigenic doses of the original tumour type. In vivo cytotoxicity assays were used to investigate establishment of cell-mediated responses in treated animals. Results AAV2-mediated GM-CSF, B7-1 treatment resulted in a significant reduction in tumour growth and an increase in survival in both tumour models. Cured animals were resistant to re-challenge, and induction of T cell mediated anti-tumour responses were demonstrated. Adoptive transfer of splenocytes to naïve animals prevented tumour establishment. Systemic production of Nk4 induced by intra-muscular (IM) delivery of Nk4 significantly reduced subcutaneous tumour growth. However, combination of Nk4 treatment with GM-CSF, B7-1 therapy reduced the efficacy of the immune therapy. Conclusions Overall, this study demonstrates the potential for in vivo AAV2 mediated immune gene therapy, and provides data on the inter-relationship between tumour vasculature and immune cell recruitment