MaestROB: A Robotics Framework for Integrated Orchestration of Low-Level Control and High-Level Reasoning

This paper describes a framework called MaestROB. It is designed to make the robots perform complex tasks with high precision by simple high-level instructions given by natural language or demonstration. To realize this, it handles a hierarchical structure by using the knowledge stored in the forms of ontology and rules for bridging among different levels of instructions. Accordingly, the framework has multiple layers of processing components; perception and actuation control at the low level, symbolic planner and Watson APIs for cognitive capabilities and semantic understanding, and orchestration of these components by a new open source robot middleware called Project Intu at its core. We show how this framework can be used in a complex scenario where multiple actors (human, a communication robot, and an industrial robot) collaborate to perform a common industrial task. Human teaches an assembly task to Pepper (a humanoid robot from SoftBank Robotics) using natural language conversation and demonstration. Our framework helps Pepper perceive the human demonstration and generate a sequence of actions for UR5 (collaborative robot arm from Universal Robots), which ultimately performs the assembly (e.g. insertion) task.Comment: IEEE International Conference on Robotics and Automation (ICRA) 2018. Video: https://www.youtube.com/watch?v=19JsdZi0TW

The su(N) XX model

The natural su(N) generalization of the XX model is introduced and analyzed. It is defined in terms of the characterizing properties of the usual XX model: the existence of two infinite sequences of mutually commuting conservation laws and the existence of two infinite sequences of mastersymmetries. The integrability of these models, which cannot be obtained in a degenerate limit of the su(N)-XXZ model, is established in two ways: by exhibiting their R matrix and from a direct construction of the commuting conservation laws. We then diagonalize the conserved laws by the method of the algebraic Bethe Ansatz. The resulting spectrum is trivial in a certain sense; this provides another indication that the su(N) XX model is the natural generalization of the su(2) model. The application of these models to the construction of an integrable ladder, that is, an su(N) version of the Hubbard model, is mentioned.Comment: 16 pages, TeX and harvmac (option b). Minor corrections, accepted for publication in Nuclear Physics

Millimeter imaging of HD 163296: probing the disk structure and kinematics

We present new multi-wavelength millimeter interferometric observations of the Herbig Ae star HD 163296 obtained with the IRAM/PBI, SMA and VLA arrays both in continuum and in the 12CO, 13CO and C18O emission lines. Gas and dust properties have been obtained comparing the observations with self-consistent disk models for the dust and CO emission. The circumstellar disk is resolved both in the continuum and in CO. We find strong evidence that the circumstellar material is in Keplerian rotation around a central star of 2.6 Msun. The disk inclination with respect to the line of sight is 46+-4 deg with a position angle of 128+-4 deg. The slope of the dust opacity measured between 0.87 and 7 mm (beta=1) confirms the presence of mm/cm-size grains in the disk midplane. The dust continuum emission is asymmetric and confined inside a radius of 200 AU while the CO emission extends up to 540 AU. The comparison between dust and CO temperature indicates that CO is present only in the disk interior. Finally, we obtain an increasing depletion of CO isotopomers from 12CO to 13CO and C18O. We argue that these results support the idea that the disk of HD 163296 is strongly evolved. In particular, we suggest that there is a strong depletion of dust relative to gas outside 200 AU; this may be due to the inward migration of large bodies that form in the outer disk or to clearing of a large gap in the dust distribution by a low mass companion.Comment: Accepted for publication on A&A, 16 page

When to start ART in Africa.

To the Editor: In their Perspective article, De Cock and El-Sadr (March 7 issue)1 highlight the need for data on when to start antiretroviral therapy (ART) for HIV-infected people in Africa who have CD4+ counts above 350 cells per cubic millimeter. However, their proposed solution — a new randomized, controlled trial in Africa — is flawed

Tree-based Coarsening and Partitioning of Complex Networks

Many applications produce massive complex networks whose analysis would benefit from parallel processing. Parallel algorithms, in turn, often require a suitable network partition. For solving optimization tasks such as graph partitioning on large networks, multilevel methods are preferred in practice. Yet, complex networks pose challenges to established multilevel algorithms, in particular to their coarsening phase. One way to specify a (recursive) coarsening of a graph is to rate its edges and then contract the edges as prioritized by the rating. In this paper we (i) define weights for the edges of a network that express the edges' importance for connectivity, (ii) compute a minimum weight spanning tree $T^m$ with respect to these weights, and (iii) rate the network edges based on the conductance values of $T^m$'s fundamental cuts. To this end, we also (iv) develop the first optimal linear-time algorithm to compute the conductance values of \emph{all} fundamental cuts of a given spanning tree. We integrate the new edge rating into a leading multilevel graph partitioner and equip the latter with a new greedy postprocessing for optimizing the maximum communication volume (MCV). Experiments on bipartitioning frequently used benchmark networks show that the postprocessing already reduces MCV by 11.3%. Our new edge rating further reduces MCV by 10.3% compared to the previously best rating with the postprocessing in place for both ratings. In total, with a modest increase in running time, our new approach reduces the MCV of complex network partitions by 20.4%

Searching for a link between the magnetic nature and other observed properties of Herbig Ae/Be stars and stars with debris disks

Among the 21 Herbig Ae/Be stars studied, new detections of a magnetic field were achieved in six stars. For three Herbig Ae/Be stars, we confirm previous magnetic field detections. The largest longitudinal magnetic field, = -454+-42G, was detected in the Herbig Ae/Be star HD101412 using hydrogen lines. No field detection at a significance level of 3sigma was achieved in stars with debris disks. Our study does not indicate any correlation of the strength of the longitudinal magnetic field with disk orientation, disk geometry, or the presence of a companion. We also do not see any simple dependence on the mass-accretion rate. However, it is likely that the range of observed field values qualitatively supports the expectations from magnetospheric accretion models giving support for dipole-like field geometries. Both the magnetic field strength and the X-ray emission show hints for a decline with age in the range of ~2-14Myrs probed by our sample supporting a dynamo mechanism that decays with age. However, our study of rotation does not show any obvious trend of the strength of the longitudinal magnetic field with rotation period. Furthermore, the stars seem to obey the universal power-law relation between magnetic flux and X-ray luminosity established for the Sun and main-sequence active dwarf stars.Comment: 21 pages, 16 figures, 7 tables, accepted for publication in A&

Barrett's oesophagus: Epidemiology, cancer risk and implications for management

Although endoscopic surveillance of patients with Barrett's oesophagus has been widely implemented, its effectiveness is debateable. The recently reported low annual oesophageal adenocarcinoma risk in population studies, the failure to identify most Barrett's patients at risk of disease progression, the poor adherence to surveillance and biopsy protocols, and the significant risk of misclassification of dysplasia all tend to undermine the effectiveness of current management, in particular, endoscopic surveillance programmes, to prevent or improve the outcomes of patients with oesophageal adenocarcinoma. The ongoing increase in incidence of Barrett's oesophagus and consequent growth of the surveillance population, together with the associated discomfort and costs of endoscopic surveillance, demand improved techniques for accurately determining individual risk of oesophageal adenocarcinoma. More accurate techniques are needed to run efficient surveillance programmes in the coming decades. In this review, we will discuss the current knowledge on the epidemiology of Barrett's oesophagus, and the challenging epidemiological dilemmas that need to be addressed when a

HST/NICMOS2 coronagraphic observations of the circumstellar environment of three old PMS stars: HD 100546, SAO 206462 and MWC 480

The close environment of four old Pre-Main Sequence stars has been observed thanks to the coronagraphic mode of the HST/NICMOS2 camera at lambda=1.6 micron. In the course of this program, the detection of a circumstellar annulus around HD 141569 has already been presented in Augereau et al.(1999b). In this paper, we report the detection of an elliptical structure around the Herbig Be star HD 100546 extending from the very close edge of the coronagraphic mask (~50 AU) to 350-380 AU (3.5-3.8 arcsec) from the star. The axis ratio gives a disk inclination of 51+/-3 degrees to the line-of-sight and a position angle of 161+/-5 degrees, measured east of north. At 50 AU, the disk has a surface brightness between 10.5 and 11 mag/arcsec^2, then follows a -2.92+/-0.04 radial power law up to 250-270 AU and finally falls as r^{-5.5+/-0.2}. The inferred optical thickness suggests that the disk is at least marginally optically thick inside 80 AU and optically thin further out. Combined with anisotropic scattering properties, this could explain the shape of a brightness asymmetry observed along the minor axis of the disk. This asymmetry needs to be confirmed. The circumstellar disks around SAO 206462 and MWC 480 are not resolved, leading to constraints on the dust distribution. A tight binary system separated by only 0.32+/-0.04 arcsec is nevertheless detected in the close vicinity of SAO 206462.Comment: 13 pages, accepted for publication in Astronomy & Astrophysic