Towards Skill Transfer via Learning-Based Guidance in Human-Robot Interaction

This thesis presents learning-based guidance (LbG) approaches that aim to transfer skills from human to robot. The approaches capture the temporal and spatial information of human motions and teach robot to assist human in human-robot collaborative tasks. In such physical human-robot interaction (pHRI) environments, learning from demonstrations (LfD) enables this transferring skill. Demonstrations can be provided through kinesthetic teaching and/or teleoperation. In kinesthetic teaching, humans directly guide robot’s body to perform a task while in teleoperation, demonstrations can be done through motion/vision-based systems or haptic devices. In this work, the LbG approaches are developed through kinesthetic teaching and teleoperation in both virtual and physical environments. First, this thesis compares and analyzes the capability of two types of statistical models, generative and discriminative, to generate haptic guidance (HG) forces as well as segment and recognize gestures for pHRI that can be used in virtual minimally invasive surgery (MIS) training. In this learning-based approach, the knowledge and experience of experts are modeled to improve the unpredictable motions of novice trainees. Two statistical models, hidden Markov model (HMM) and hidden Conditional Random Fields (HCRF), are used to learn gestures from demonstrations in a virtual MIS related task. The models are developed to automatically recognize and segment gestures as well as generate guidance forces. In practice phase, the guidance forces are adaptively calculated in real time regarding gesture similarities among user motion and the gesture models. Both statistical models can successfully capture the gestures of the user and provide adaptive HG, however, results show the superiority of HCRF, as a discriminative method, compared to HMM, as a generative method, in terms of user performance. In addition, LbG approaches are developed for kinesthetic HRI simulations that aim to transfer the skills of expert surgeons to resident trainees. The discriminative nature of HCRF is incorporated into the approach to produce LbG forces and discriminate the skill levels of users. To experimentally evaluate this kinesthetic-based approach, a femur bone drilling simulation is developed in which residents are provided haptic feedback based on real computed tomography (CT) data that enable them to feel the variable stiffness of bone layers. Orthepaedic surgeons require to adjust drilling force since bone layers have different stiffness. In the learning phase, using the simulation, an expert HCRF model is trained from expert surgeons demonstration to learn the stiffness variations of different bone layers. A novice HCRF model is also developed from the demonstration of novice residents to discriminate the skill levels of a new trainee. During the practice phase, the learning-based approach, which encoded the stiffness variations, guides the trainees to perform training tasks similar to experts motions. Finally, in contrast to other parts of the thesis, an LbG approach is developed through teleoperation in physical environment. The approach assists operators to navigate a teleoperated robot through a haptic steering wheel and a haptic gas pedal. A set of expert operator demonstrations are used to develop maneuvering skill model. The temporal and spatial variation of demonstrations are learned using HMM as the skill model. A modified Gaussian Mixture regression (GMR) in combination with the HMM is also developed to robustly produce the motion during reproduction. The GMR calculates outcome motions from a joint probability density function of data rather than directly model the regression function. In addition, the distance between the robot and obstacles is incorporated into the impedance control to generate guidance forces that also assist operators with avoiding obstacle collisions. Using different forms of variable impedance control, guidance forces are computed in real time with respect to the similarities between the maneuver of users and the skill model. This encourages users to navigate a robot similar to the expert operators. The results show that user performance is improved in terms of number of collisions, task completion time, and average closeness to obstacles

Data Visualization Using Figural Animation

One of the important objectives of business data visualization for decision making is to assist the user in their cognition and recall of prominent features and patterns of data. In this study, we extend Chernoff faces to full-featured animated figures to represent multi-dimensional data. A prototype has been developed that allows the user to easily assign data attributes to figural features as well as superimpose the data values. Once these settings have been made and the temporal dimension assigned, the animation is rendered through Poser and the video is embedded within the user interface. The figural animation contains VCR-type controls allowing the user to examine any particular data point or play any portion of the video at various speeds. A series of tests are being designed to determine if the application enhances the user’s ability to recall and display patterns in data

Impacts of Forest Road on Plant Species Diversity in a Hyrcanian Forest, Iran

Forest roads facilitate various activities such as forest management, tending of forest, timber logging, and fire and pest control, but the fact remains that roads can interrupt the natural function of forest ecosystem. They divert water flow and increase the amount of sediment. They can also alter plant species composition. Furthermore, the network structure of roads divides the land to small patches, which ends in habitat fragmentation. In this study, which was carried out in the Hyrcanian Forest in the north of Iran, effects of a forest road on plant species diversity (including trees, saplings and herbs) was investigated on both cut and fill slopes. At 10 points along the road, toward the fill slope and cut slope, ten 100 meter transects perpendicular to the road were established. Within each transect, ten 10×10 m plots were sampled to record the tree and sapling species and ten 2 × 2 m plots to record the herbal species. Results showed that road segment had no significant effects on plant species diversity. Since the studied road is constructed using environmentally sound techniques and criteria, unnecessary cut and fill operations were avoided. The other factor is the width of the road, which is as narrow as possible, so the habitat fragmentation is not so considerable. The traffic on this road is also limited; therefore soil pollution does not affect plant composition. These items together with the ability of the Hyrcanian ecosystem to repair itself can mitigate negative effects of this road

Coronally advanced flap and connective tissue graft with or without plasma rich in growth factors (PRGF) in treatment of gingival recession

Several researchers have tried to improve the results of gingival recession treatment techniques. One of the methods is to use growth factors The present study was undertaken to evaluate the effect of CAF (coronally advanced flap) + CTG (connective tissue graft) + PRGF (plasma rich in growth factors) in the treatment of Miller Class I buccal gingival recession. Twenty-two teeth with Miller Class I gingival recession in 6 patients 26 ? 47 years of age were included in a split-mouth designed randomized controlled trial (RCT). In each patient, one side was treated with CAF + CTG + PRGF (test) and the other side was treated with CAF + CTG (control). The following parameters were measured before surgery and up to 6 months after surgery on the mid-buccal surface of the tooth: keratinized tissue width (KTW), clinical attachment level (CAL), probing depth (PD), vertical recession depth (VRD), recession depth (RD), gingival thickness (GT), root coverage in percentage (RC%) and the distance between the CEJ and mucogingival junction (MGJL). Data were analyzed with paired t-test and repeated measures ANOVA. After 6 months noticeable improvements were observed in both groups in all the variables measured except for PD; however, the differences between the two groups were not significant. RC% was 80 ± 25% and 67 ± 28% in the test and control groups, respectively, after 6 months. Both CAF + CTG + PRGF and CAF + CTG treatment modalities resulted in favorable root coverage; however, the addition of PRGF added no measurable significant effect

The contrasting effect of the Ta/Nb ratio in (111)-layered B-site deficient hexagonal perovskite Ba5Nb4-xTaxO15 crystals on visible-light-induced photocatalytic water oxidation activity of their oxynitride derivatives

Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.The effect of the Ta/Nb ratio in the (111)-layered B-site deficient hexagonal perovskite Ba5Nb4-xTaxO15 (0 <= x <= 4) crystals grown by a KCl flux method on visible-light-induced photocatalytic water oxidation activity of their oxynitride derivatives BaNb1-xTaxO2N (0 <= x <= 1) was investigated. The Rietveld refinement of X-ray data revealed that all Ba5Nb4-xTaxO15 samples were well crystallized in the space group P (3) over bar m1 (no. 164). Phase-pure BaNb1-xTaxO2N (0 <= x <= 1) porous structures were obtained by nitridation of the flux-grown oxide crystals at 950 degrees C for 20, 25, 30, 35, and 40 h, respectively. The absorption edge of BaNb1-xTaxO2N (0 <= x <= 1) was slightly shifted from 720 to 690 nm with the increasing Ta/Nb ratio. The O-2 evolution rate gradually progressed and reached the highest value (127.24 mu mol in the first 2 h) with the Ta content up to 50 mol% but decreased at 75 and 100 mol% presumably due to the reduced specific surface area and high density of structural defects, such as grain boundaries acting as recombination centers, originated from high-temperature nitridation for prolonged periods. Transient absorption spectroscopy provided evidence for the effect of the Ta/Nb ratio on the behavior and energy states of photogenerated charge carriers, indicating a direct correlation with photocatalytic water oxidation activity of BaNb1-xTaxO2N

Tribological system for cold sheet metal forming based on volatile lubricants and laser structured surfaces

AbschlussberichtA novel tribological system has been developed, in which volatile lubricants (carbon dioxide - CO2 or nitrogen- N2) are used as a substitute for mineral oil-based lubricants in deep drawing processes. This process enables the introduction of an intermediate medium under high pressure through flow-optimized, laser-drilled micro holes into the contact surfaces. This eliminates the need for subsequent, cost-intensive cleaning processes, as the volatile lubricants evaporate without leaving any residue during expansion to ambient pressure. The design of initial micro hole geometries was based on simulations of the flow behaviour of the lubricants passing through, which in turn were validated using pressure reactor tests. In addition, the wetting behaviour of CO2 on relevant surfaces (tool surface and sheet material surface) was investigated experimentally using the captive-bubble-method. Thus, the optimal design of the micro holes (diameter, hole geometry and number of micro holes) could be determined using flat strip drawing tests. The optimal micro hole geometry determined in this way is suited for the use of both CO2 and N2 as volatile lubricant. Furthermore, extensive investigations for the production of the required micro hole geometry by laser drilling were carried out. The fundamentals for drilling micro holes in steel with high aspect ratios could be developed using an ultrashort pulsed research laser with very high pulse energy. Further experiments were conducted using an ultrashort pulsed prototype laser of the kW-class specially developed to increase productivity when drilling a multitude of micro holes with higher average laser power. The novel tribological system has been characterised by means of strip drawing tests and stretch bending tests. For both, CO2 (liquid) and N2 (gaseous), relatively low friction values could be achieved compared to conventional lubricants. It could be shown that deep drawing with both CO2 and N2 as dry lubricants is possible. Here, usage of the volatile lubricants not only allows the replacement of mineral oil based lubricants, but even improves the tribological system with regard to frictional forces in sheet metal forming. The feasibility of the new tribological system has been proven by performing deep drawing tests of rectangular cups. These tests showed a significantly enlarged process window of the forming process, which emphasise the tremendous potential of this new tribological system.12816

Global, regional, and national burden of disorders affecting the nervous system, 1990–2021: a systematic analysis for the Global Burden of Disease Study 2021

BackgroundDisorders affecting the nervous system are diverse and include neurodevelopmental disorders, late-life neurodegeneration, and newly emergent conditions, such as cognitive impairment following COVID-19. Previous publications from the Global Burden of Disease, Injuries, and Risk Factor Study estimated the burden of 15 neurological conditions in 2015 and 2016, but these analyses did not include neurodevelopmental disorders, as defined by the International Classification of Diseases (ICD)-11, or a subset of cases of congenital, neonatal, and infectious conditions that cause neurological damage. Here, we estimate nervous system health loss caused by 37 unique conditions and their associated risk factors globally, regionally, and nationally from 1990 to 2021.MethodsWe estimated mortality, prevalence, years lived with disability (YLDs), years of life lost (YLLs), and disability-adjusted life-years (DALYs), with corresponding 95% uncertainty intervals (UIs), by age and sex in 204 countries and territories, from 1990 to 2021. We included morbidity and deaths due to neurological conditions, for which health loss is directly due to damage to the CNS or peripheral nervous system. We also isolated neurological health loss from conditions for which nervous system morbidity is a consequence, but not the primary feature, including a subset of congenital conditions (ie, chromosomal anomalies and congenital birth defects), neonatal conditions (ie, jaundice, preterm birth, and sepsis), infectious diseases (ie, COVID-19, cystic echinococcosis, malaria, syphilis, and Zika virus disease), and diabetic neuropathy. By conducting a sequela-level analysis of the health outcomes for these conditions, only cases where nervous system damage occurred were included, and YLDs were recalculated to isolate the non-fatal burden directly attributable to nervous system health loss. A comorbidity correction was used to calculate total prevalence of all conditions that affect the nervous system combined.FindingsGlobally, the 37 conditions affecting the nervous system were collectively ranked as the leading group cause of DALYs in 2021 (443 million, 95% UI 378–521), affecting 3·40 billion (3·20–3·62) individuals (43·1%, 40·5–45·9 of the global population); global DALY counts attributed to these conditions increased by 18·2% (8·7–26·7) between 1990 and 2021. Age-standardised rates of deaths per 100 000 people attributed to these conditions decreased from 1990 to 2021 by 33·6% (27·6–38·8), and age-standardised rates of DALYs attributed to these conditions decreased by 27·0% (21·5–32·4). Age-standardised prevalence was almost stable, with a change of 1·5% (0·7–2·4). The ten conditions with the highest age-standardised DALYs in 2021 were stroke, neonatal encephalopathy, migraine, Alzheimer's disease and other dementias, diabetic neuropathy, meningitis, epilepsy, neurological complications due to preterm birth, autism spectrum disorder, and nervous system cancer.InterpretationAs the leading cause of overall disease burden in the world, with increasing global DALY counts, effective prevention, treatment, and rehabilitation strategies for disorders affecting the nervous system are needed

First-principles investigation of the equation of state and elastic properties of perovskite-type SrW(O,N)

Pressure dependence of the structural and elastic properties of perovskite-type cubic SrWO2.05N0.95 was studied using firstprinciples density functional theory (DFT) utilizing the plane wave pseudopotential and the exchange-correlation functionals within the generalized gradient approximation. The estimated bulk modulus and its pressure derivative values from the P − V data fitted to the third-order Birch-Murnaghan equation of state were close to the data obtained from the independent elastic constants. Based on the generalized Born stability criteria, SrWO2.05N0.95 is mechanically stable up to 139 GPa. The influence of hydrostatic pressure (0 to 139 GPa) on the bulk modulus, shear modulus, Young’s modulus, Pugh’s modulus ratio, Poisson’s ratio, Vickers hardness, sound velocities, Debye temperature, Debye-Grüneisen parameter, minimum thermal conductivity and elastic anisotropy of SrWO2.05N0.95 was particularly studied in detail. It was found that SrWO2.05N0.95 is a ductile and hard solid with large bulk, shear and Young’s modulus and displays an extraordinary low thermal conductivity. Since there are not any experimental or theoretical data available for comparison the results of the present study have revealed an important fundamental information about the elastic properties of perovskite-type cubic SrWO2.05N0.95 for future experimental studies