Fall Prediction for New Sequences of Motions

Abstract. Motions reinforce meanings in human-robot communication, when they are relevant and initiated at the right times. Given a task of using motions for an autonomous humanoid robot to communicate, different sequences of relevant motions are generated from the motion library. Each motion in the motion library is stable, but a sequence may cause the robot to be unstable and fall. We are interested in predicting if a sequence of motions will result in a fall, without executing the sequence on the robot. We contribute a novel algorithm, ProFeaSM, that uses only body angles collected during the execution of single motions and interpolations between pairs of motions, to predict whether a sequence will cause the robot to fall. We demonstrate the efficacy of ProFeaSM on the NAO humanoid robot in a real-time simulator, Webots, and on a real NAO and explore the trade-off between precision and recall

From 'nothing' to inflation and back again

A procedure for solving Wheeler-DeWitt equation in Euclidean region, following step by step the construction of tunneling wave function in nonrelativistic quantum mechanics by Banks, Bender and Wu, is proposed. Solutions for a universe satisfying no-boundary condition and a universe created from 'nothing' are compared to the corresponding solutions for a particle in a two-dimensional potential well, and effects of indefiniteness of metric and zero energy in Wheeler-DeWitt equation are discussed.Comment: 8 pages, presented at the conference Relativity and Gravitation, 100 years after Einstein in Prague (Prague 2012

Cut it out: Out-of-plane stresses in cell sheet folding of Volvox embryos

The folding of cellular monolayers pervades embryonic development and disease. It results from stresses out of the plane of the tissue, often caused by cell shape changes including cell wedging via apical constriction. These local cellular changes need not however be compatible with the global shape of the tissue. Such geometric incompatibilities lead to residual stresses that have out-of-plane components in curved tissues, but the mechanics and function of these out-of-plane stresses are poorly understood, perhaps because their quantification has proved challenging. Here, we overcome this difficulty by combining laser ablation experiments and a mechanical model to reveal that such out-of-plane residual stresses exist and also persist during the inversion of the spherical embryos of the green alga Volvox. We show how to quantify the mechanical properties of the curved tissue from its unfurling on ablation, and reproduce the tissue shape sequence at different developmental timepoints quantitatively by our mechanical model. Strikingly, this reveals not only clear mechanical signatures of out-of-plane stresses associated with cell shape changes away from those regions where cell wedging bends the tissue, but also indicates an adaptive response of the tissue to these stresses. Our results thus suggest that cell sheet folding is guided mechanically not only by cell wedging, but also by out-of-plane stresses from these additional cell shape changes.Comment: 10 pages, 3 figures; Supporting Information: 10 pages, 2 figure

Micro-cantilever testing of diamond - silicon carbide interfaces in silicon carbide bonded diamond materials produced by reactive silicon infiltration

SiC-bonded diamond materials produced by pressureless reactive infiltration of diamond preforms with silicon show high hardness and wear resistance. These properties are due to the relatively high diamond volume content of approximately 50 vol% and the mechanically strong interface between diamond and SiC. To determine the bending strength of individual interfaces between diamond and SiC, micro-cantilevers were prepared by focused ion beam milling at 13 grain boundaries and in-situ bending tests were carried out in a scanning electron microscope. The determined strength of cantilevers showing interface fracture was 10.4 ± 4.0 GPa. Fracture surfaces were analyzed to verify the fracture behavior and initiation. In addition to fracture at the interface diamond/SiC, fracture occurred inside the SiC grains and at the SiC/silicon interface at comparable strength values. The results prove the high diamond/SiC-interface bonding strength

Imaging stress and magnetism at high pressures using a nanoscale quantum sensor.

Pressure alters the physical, chemical, and electronic properties of matter. The diamond anvil cell enables tabletop experiments to investigate a diverse landscape of high-pressure phenomena. Here, we introduce and use a nanoscale sensing platform that integrates nitrogen-vacancy (NV) color centers directly into the culet of diamond anvils. We demonstrate the versatility of this platform by performing diffraction-limited imaging of both stress fields and magnetism as a function of pressure and temperature. We quantify all normal and shear stress components and demonstrate vector magnetic field imaging, enabling measurement of the pressure-driven [Formula: see text] phase transition in iron and the complex pressure-temperature phase diagram of gadolinium. A complementary NV-sensing modality using noise spectroscopy enables the characterization of phase transitions even in the absence of static magnetic signatures

Spinning around or stagnation - what do osteoblasts and chondroblasts really like?

<p>Abstract</p> <p>Objective</p> <p>The influcence of cytomechanical forces in cellular migration, proliferation and differentation of mesenchymal stem cells (MSCs) is still poorly understood in detail.</p> <p>Methods</p> <p>Human MSCs were isolated and cultivated onto the surface of a 3 × 3 mm porcine collagen I/III carrier. After incubation, cell cultures were transfered to the different cutures systems: regular static tissue flasks (group I), spinner flasks (group II) and rotating wall vessels (group III). Following standard protocols cells were stimulated lineage specific towards the osteogenic and chondrogenic lines. To evaluate the effects of applied cytomechanical forces towards cellular differentiation distinct parameters were measured (morphology, antigen and antigen expression) after a total cultivation period of 21 days in vitro.</p> <p>Results</p> <p>Depending on the cultivation technique we found significant differences in both gen and protein expression.</p> <p>Conclusion</p> <p>Cytomechanical forces with rotational components strongly influence the osteogenic and chondrogenic differentiation.</p

An open platform for Aerosol InfraRed Spectroscopy analysis – AIRSpec

AIRSpec is a platform consisting of several chemometric packages developed for analysis of Fourier transform infrared (FTIR) spectra of atmospheric aerosols. The packages are accessible through a browser-based interface, which also generates the necessary input files based on user interactions for provenance management and subsequent use with a command-line interface. The current implementation includes the task of baseline correction, organic functional group (FG) analysis, and multivariate calibration for any analyte with absorption in the mid-infrared. The baseline correction package uses smoothing splines to correct the drift of the baseline of ambient aerosol spectra given the variability in both environmental mixture composition and substrates. The FG analysis is performed by fitting individual Gaussian line shapes for alcohol (aCOH), carboxylic acid (COOH), alkane (aCH), carbonyl (CO), primary amine (aNH2), and ammonium (ammNH) for each spectrum. The multivariate calibration model uses the spectra to estimate the concentration of relevant target variables (e.g., organic or elemental carbon) measured with different reference instruments. In each of these analyses, AIRSpec receives spectra and user choices on parameters for model computation; input files with parameters that can later be used with a command-line interface for batch computation are returned together with diagnostic figures and tables in text format. AIRSpec is built using the open-source software consisting of R and Shiny and is released under the GNU Public License v3. Users can download, modify, and extend the package, or access its functionality through the web application (http://airspec.epfl.ch, last access: 3 April 2019) hosted at the École polytechnique fédérale de Lausanne (EPFL). AIRSpec provides a unified framework by which different chemometric techniques can be shared and accessed, and its underlying suite of packages provides the basic functionality for extending the platform with new types of analyses. For example, basic functionality includes operations for populating and accessing spectra residing in in-memory arrays or relational databases, input and output of spectra and results of computation, and user interface development. Moreover, AIRSpec facilitates the exploratory work, can be used by FTIR spectra acquired with different methods, and can be extended easily with new chemometric packages when they become available. Therefore AIRSpec provides a framework for centralizing and disseminating such algorithms. This paper describes the modular architecture and provides examples of the implemented packages using the spectra of aerosol samples collected on PM2.5 polytetrafluoroethylene (Teflon) filters.</p