Owning your own home: reality or myth

The focus of the white paper will be to highlight the housing challenges that people in the New England region and in the United States face. Affordability, sustainability, people needs, societal needs, environmental needs, economic incentives and impact of government policies are just a few of the topics that will be explored

Deep Haptic Model Predictive Control for Robot-Assisted Dressing

Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about the physical implications of their actions on people. The physical implications of dressing are complicated by non-rigid garments, which can result in a robot indirectly applying high forces to a person's body. We present a deep recurrent model that, when given a proposed action by the robot, predicts the forces a garment will apply to a person's body. We also show that a robot can provide better dressing assistance by using this model with model predictive control. The predictions made by our model only use haptic and kinematic observations from the robot's end effector, which are readily attainable. Collecting training data from real world physical human-robot interaction can be time consuming, costly, and put people at risk. Instead, we train our predictive model using data collected in an entirely self-supervised fashion from a physics-based simulation. We evaluated our approach with a PR2 robot that attempted to pull a hospital gown onto the arms of 10 human participants. With a 0.2s prediction horizon, our controller succeeded at high rates and lowered applied force while navigating the garment around a persons fist and elbow without getting caught. Shorter prediction horizons resulted in significantly reduced performance with the sleeve catching on the participants' fists and elbows, demonstrating the value of our model's predictions. These behaviors of mitigating catches emerged from our deep predictive model and the controller objective function, which primarily penalizes high forces.Comment: 8 pages, 12 figures, 1 table, 2018 IEEE International Conference on Robotics and Automation (ICRA

Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing

Robotic assistance presents an opportunity to benefit the lives of many people with physical disabilities, yet accurately sensing the human body and tracking human motion remain difficult for robots. We present a multidimensional capacitive sensing technique that estimates the local pose of a human limb in real time. A key benefit of this sensing method is that it can sense the limb through opaque materials, including fabrics and wet cloth. Our method uses a multielectrode capacitive sensor mounted to a robot's end effector. A neural network model estimates the position of the closest point on a person's limb and the orientation of the limb's central axis relative to the sensor's frame of reference. These pose estimates enable the robot to move its end effector with respect to the limb using feedback control. We demonstrate that a PR2 robot can use this approach with a custom six electrode capacitive sensor to assist with two activities of daily living-dressing and bathing. The robot pulled the sleeve of a hospital gown onto able-bodied participants' right arms, while tracking human motion. When assisting with bathing, the robot moved a soft wet washcloth to follow the contours of able-bodied participants' limbs, cleaning their surfaces. Overall, we found that multidimensional capacitive sensing presents a promising approach for robots to sense and track the human body during assistive tasks that require physical human-robot interaction.Comment: 8 pages, 16 figures, International Conference on Rehabilitation Robotics 201

Far-UV Emission from Elliptical Galaxies at z=0.55

The restframe UV-to-optical flux ratio, characterizing the ``UV upturn'' phenomenon, is potentially the most sensitive tracer of age in elliptical galaxies; models predict that it may change by orders of magnitude over the course of a few Gyr. In order to trace the evolution of the UV upturn as a function of redshift, we have used the far-UV camera on the Space Telescope Imaging Spectrograph to image the galaxy cluster CL0016+16 at z=0.55. Our 25''x25'' field includes four bright elliptical galaxies, spectroscopically confirmed to be passively evolving cluster members. The weak UV emission from the galaxies in our image demonstrates that the UV upturn is weaker at a lookback time 5.6 Gyr earlier than our own, as compared to measurements of the UV upturn in cluster E and S0 galaxies at z=0 and z=0.375. These images are the first with sufficient depth to demonstrate the fading of the UV upturn expected at moderate redshifts. We discuss these observations and the implications for the formation history of galaxies.Comment: 4 pages, Latex. 2 figures. Uses corrected version of emulateapj.sty and apjfonts.sty (included). Accepted for publication in ApJ Letter

Annual Survey of Virginia Law: Administrative Procedure

Since the last report on developments in Virginia\u27s law of administrative procedure, both her General Assembly and her courts have been busy making new law. This year\u27s General Assembly revamped the Freedom of Information Act ( FOIA ), and made adjustments to laws regulating the periods in which agencies must decide certain types oflicensing cases and promulgate certain procedural regulations. Meanwhile, the courts of the Commonwealth were active in the field, addressing open questions concerning the following subjects: rulemaking, due process, evidence, timeliness, and judicial review

Software Metrics and the Object-Oriented Paradigm

Software metrics are in use to guide current software development practices. As commercial organizations make use of the benefits of the object-oriented paradigm, the desire to apply metrics to that paradigm has logically followed. However, standard procedural metrics are limited in their ability to describe true object-oriented designs and code, and in some aspects fail outright. This paper describes the difficulties in applying standard metrics to object-oriented code and defines a set of metrics which are specifically geared toward the features which make the object-oriented approach unique

Field experiments with corn

Cover title