Active End-Effector Pose Selection for Tactile Object Recognition through Monte Carlo Tree Search

This paper considers the problem of active object recognition using touch only. The focus is on adaptively selecting a sequence of wrist poses that achieves accurate recognition by enclosure grasps. It seeks to minimize the number of touches and maximize recognition confidence. The actions are formulated as wrist poses relative to each other, making the algorithm independent of absolute workspace coordinates. The optimal sequence is approximated by Monte Carlo tree search. We demonstrate results in a physics engine and on a real robot. In the physics engine, most object instances were recognized in at most 16 grasps. On a real robot, our method recognized objects in 2--9 grasps and outperformed a greedy baseline.Comment: Accepted to International Conference on Intelligent Robots and Systems (IROS) 201

Active End-Effector Pose Selection for Tactile Object Recognition through Monte Carlo Tree Search

This paper considers the problem of active object recognition using touch only. The focus is on adaptively selecting a sequence of wrist poses that achieves accurate recognition by enclosure grasps. It seeks to minimize the number of touches and maximize recognition confidence. The actions are formulated as wrist poses relative to each other, making the algorithm independent of absolute workspace coordinates. The optimal sequence is approximated by Monte Carlo tree search. We demonstrate results in a physics engine and on a real robot. In the physics engine, most object instances were recognized in at most 16 grasps. On a real robot, our method recognized objects in 2--9 grasps and outperformed a greedy baseline.Comment: Accepted to International Conference on Intelligent Robots and Systems (IROS) 201

Clarke subgradients of stratifiable functions

We establish the following result: if the graph of a (nonsmooth) real-extended-valued function $f:\mathbb{R}^{n}\to \mathbb{R}\cup\{+\infty\}$ is closed and admits a Whitney stratification, then the norm of the gradient of $f$ at $x\in{dom}f$ relative to the stratum containing $x$ bounds from below all norms of Clarke subgradients of $f$ at $x$. As a consequence, we obtain some Morse-Sard type theorems as well as a nonsmooth Kurdyka-\L ojasiewicz inequality for functions definable in an arbitrary o-minimal structure

Omnidirectional video

Omnidirectional video enables direct surround immersive viewing of a scene by warping the original image into the correct perspective given a viewing direction. However, novel views from viewpoints off the camera path can only be obtained if we solve the 3D motion and calibration problem. In this paper we address the case of a parabolic catadioptric camera – a paraboloidal mirror in front of an orthographic lens – and we introduce a new representation, called the circle space, for points and lines in such images. In this circle space, we formulate an epipolar constraint involving a 4x4 fundamental matrix. We prove that the intrinsic parameters can be inferred in closed form from the 2D subspace of the new fundamental matrix from two views if they are constant or from three views if they vary. Three dimensional motion and structure can then be estimated from the decomposition of the fundamental matrix

Transport of charged particles by adjusting rf voltage amplitudes

We propose a planar architecture for scalable quantum information processing (QIP) that includes X-junctions through which particles can move without micromotion. This is achieved by adjusting radio frequency (rf) amplitudes to move an rf null along the legs of the junction. We provide a proof-of-principle by transporting dust particles in three dimensions via adjustable rf potentials in a 3D trap. For the proposed planar architecture, we use regularization techniques to obtain amplitude settings that guarantee smooth transport through the X-junction.Comment: 16 pages, 10 figure

IL-10 and TGF-β1 gene polymorphisms in Greek patients with recurrent aphthous stomatitis

Recurrent aphthous stomatitis (RAS) is one of the most frequent inflammatory disorders of the oral mucosa. Cytokines, which play an important role in RAS pathogenesis, participate directly or indirectly in normal, immunological and inflammatory processes and are secreted from cells belonging to innate and adaptive immunity as a consequence of microbial and antigenic stimuli. Gene polymorphisms in specific cytokines may predispose to RAS development. The aim of this study was the investigation and association of IL-10 and TGF-β1 gene polymorphisms with RAS