Multi-View Picking: Next-best-view Reaching for Improved Grasping in Clutter

Camera viewpoint selection is an important aspect of visual grasp detection, especially in clutter where many occlusions are present. Where other approaches use a static camera position or fixed data collection routines, our Multi-View Picking (MVP) controller uses an active perception approach to choose informative viewpoints based directly on a distribution of grasp pose estimates in real time, reducing uncertainty in the grasp poses caused by clutter and occlusions. In trials of grasping 20 objects from clutter, our MVP controller achieves 80% grasp success, outperforming a single-viewpoint grasp detector by 12%. We also show that our approach is both more accurate and more efficient than approaches which consider multiple fixed viewpoints.Comment: ICRA 2019 Video: https://youtu.be/Vn3vSPKlaEk Code: https://github.com/dougsm/mvp_gras

D-branes on Orbifolds and Topology Change

We consider D-branes on an orbifold $C^3/Z_n$ and investigate the moduli space of the D-brane world-volume gauge theory by using toric geometry and gauged linear sigma models. For $n=11$, we find that there are five phases, which are topologically distinct and connected by flops to each other. We also verify that non-geometric phases are projected out for $n=7,9,11$ cases as expected. Resolutions of non-isolated singularities are also investigated.Comment: 21 pages + 12 eps figures, LaTeX, minor correction

Probing F-theory With Branes

Last week, A. Sen found an explicit type I string compactification dual to the eight-dimensional F-theory construction with SO(8)^4 nonabelian gauge symmetry. He found that the perturbations around the enhanced symmetry point were described by the mathematics of the solution of N=2, d=4 SU(2) gauge theory with four flavors, and argued more generally that global symmetry enhancement in CN=2, d=4 gauge theories corresponded to gauge symmetry enhancement in F-theory. We show that these N=2, d=4 gauge theories have a physical interpretation in the theory. They are the world-volume theories of 3-branes parallel to the 7-branes. They can be used to probe the structure of the exact quantum F-theory solutions. On the Higgs branch of the moduli space, the objects are equivalent to finite size instantons in the 7-brane gauge theory.Comment: harvmac, 7 p

An analysis of mill sound levels to aid in the control and understanding of the grinding process

“An experimental study has been made to evaluate the relationships between grinding parameters and the directional sound levels emitted from the collision of the grinding media with the mill wall for a laboratory batch ball mill. Discrete frequency and single frequency band sound pressure level measurements were performed to investigate the changes in sound levels with grind time. It was demonstrated that the reduction in sound levels with grind time observed for a narrow sized feed can be used to indicate optimum breakage rates, overall time-based particle size distribution, and ore character. The relationships established with the discrete frequency and single frequency band monitoring have determined that mill sound levels could be used as an on-line production parameter for a batch mill and as a laboratory indicator of relative grindability. Multiple frequency band sound power level measurements during the wet grinding of feed materials, having a distribution of particle sizes, has shown that mill sound levels can indicate the actual effective pulp viscosity in the mill and hence permit the identification of the dynamic rheological regime existing within the mill. The results show that the production of fine particles is not directly related to the sound levels. However, rheological transitions from dilatant to pseudoplastic, to pseudoplastic with yield rheology, as identified by the sound levels, are reflected in the fine particle production. It also was shown that mill sound will reflect mill pulp rheology with and without the presence of a grinding additive and for the case where the additive is or is not effective --Abstract, pages ii-iii

The Crystal and Molecular Structure of the Normal Aliphatic Dicarboxylic Acids

The crystal structures of succinic, adipic, sebacic and glutaric acids have been investigated fully by the two-dimensional X ray method. Unusual variations in certain of the molecular dimensions have been observed, which may be considered to have significance, and a possible qualitative explanation for these variations is given in terms of resonance theory. An attempt is also made to correlate the chemical and physical properties of these acids with their crystal and molecular structure. The necessity for including the hydrogen atoms of a compound in the calculations of structure factors is demonstrated

Role of gut microbiota-generated short chain fatty acids in metabolic and cardiovascular health

Purpose of this Review: This review assesses the latest evidence linking short-chain fatty acids (SCFA) with host metabolic health and cardiovascular disease (CVD) risk and presents the latest evidence on possible biological mechanisms. Recent Findings: SCFA have a range of effects locally in the gut and at both splanchnic and peripheral tissues which together appear to induce improved metabolic regulation and have direct and indirect effects on markers of CVD risk. Summary: SCFA produced primarily from the microbial fermentation of dietary fibre appear to be key mediators of the beneficial effects elicited by the gut microbiome. Not only does dietary fibre fermentation regulate microbial activity in the gut, SCFA also directly modulate host health through a range of tissue-specific mechanisms related to gut barrier function, glucose homeostasis, immunomodulation, appetite regulation and obesity. With the increasing burden of obesity worldwide, the role for gut microbiota-generated SCFA in protecting against the effects of energy dense diets offers an intriguing new avenue for regulating metabolic health and CVD risk

What do we need for robust and quantitative health impact assessment?

Health impact assessment (HIA) aims to make the health consequences of decisions explicit. Decision-makers need to know that the conclusions of HIA are robust. Quantified estimates of potential health impacts may be more influential but there are a number of concerns. First, not everything that can be quantified is important. Second, not everything that is being quantified at present should be, if this cannot be done robustly. Finally, not everything that is important can be quantified; rigorous qualitative HIA will still be needed for a thorough assessment. This paper presents the first published attempt to provide practical guidance on what is required to perform robust, quantitative HIA. Initial steps include profiling the affected populations, obtaining evidence from for postulated impacts, and determining how differences in subgoups' exposures and suscepibilities affect impacts. Using epidemiological evidence for HIA is different from carrying out a new study. Key steps in quantifying impacts are mapping the causal pathway, selecting appropriate outcome measures and selecting or developing a statistical model. Evidence from different sources is needed. For many health impacts, evidence of an effect may be scarce and estimates of the size and nature of the relationship may be inadequate. Assumptions and uncertainties must therefore be explicit. Modelled data can sometimes be tested against empirical data but sensitivity analyses are crucial. When scientific problems occur, discontinuing the study is not an option, as HIA is usually intended to inform real decisions. Both qualitative and quantitative elements of HIA must be performed robustly to be of value