Deep Haptic Model Predictive Control for Robot-Assisted Dressing

Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about the physical implications of their actions on people. The physical implications of dressing are complicated by non-rigid garments, which can result in a robot indirectly applying high forces to a person's body. We present a deep recurrent model that, when given a proposed action by the robot, predicts the forces a garment will apply to a person's body. We also show that a robot can provide better dressing assistance by using this model with model predictive control. The predictions made by our model only use haptic and kinematic observations from the robot's end effector, which are readily attainable. Collecting training data from real world physical human-robot interaction can be time consuming, costly, and put people at risk. Instead, we train our predictive model using data collected in an entirely self-supervised fashion from a physics-based simulation. We evaluated our approach with a PR2 robot that attempted to pull a hospital gown onto the arms of 10 human participants. With a 0.2s prediction horizon, our controller succeeded at high rates and lowered applied force while navigating the garment around a persons fist and elbow without getting caught. Shorter prediction horizons resulted in significantly reduced performance with the sleeve catching on the participants' fists and elbows, demonstrating the value of our model's predictions. These behaviors of mitigating catches emerged from our deep predictive model and the controller objective function, which primarily penalizes high forces.Comment: 8 pages, 12 figures, 1 table, 2018 IEEE International Conference on Robotics and Automation (ICRA

Improving Transit Predictions of Known Exoplanets with TERMS

Transiting planet discoveries have largely been restricted to the short-period or low-periastron distance regimes due to the bias inherent in the geometric transit probability. Through the refinement of planetary orbital parameters, and hence reducing the size of transit windows, long-period planets become feasible targets for photometric follow-up. Here we describe the TERMS project that is monitoring these host stars at predicted transit times.Comment: 3 pages, 2 figures, to be published in ASP Conf. Proceedings: "Detection and dynamics of transiting exoplanets" 2010, OHP, France (eds.: F. Bouchy, R.F. D{\i}az, C. Moutou

Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing

Robotic assistance presents an opportunity to benefit the lives of many people with physical disabilities, yet accurately sensing the human body and tracking human motion remain difficult for robots. We present a multidimensional capacitive sensing technique that estimates the local pose of a human limb in real time. A key benefit of this sensing method is that it can sense the limb through opaque materials, including fabrics and wet cloth. Our method uses a multielectrode capacitive sensor mounted to a robot's end effector. A neural network model estimates the position of the closest point on a person's limb and the orientation of the limb's central axis relative to the sensor's frame of reference. These pose estimates enable the robot to move its end effector with respect to the limb using feedback control. We demonstrate that a PR2 robot can use this approach with a custom six electrode capacitive sensor to assist with two activities of daily living-dressing and bathing. The robot pulled the sleeve of a hospital gown onto able-bodied participants' right arms, while tracking human motion. When assisting with bathing, the robot moved a soft wet washcloth to follow the contours of able-bodied participants' limbs, cleaning their surfaces. Overall, we found that multidimensional capacitive sensing presents a promising approach for robots to sense and track the human body during assistive tasks that require physical human-robot interaction.Comment: 8 pages, 16 figures, International Conference on Rehabilitation Robotics 201

Minority Teacher Recruitment, Employment, and Retention: 1987 to 2013

This study examines and compares the recruitment, employment, and retention of minority and nonminority school teachers over the past quarter century. Our objective is to empirically ground the debate over minority teacher shortages. The data we analyze are from the National Center for Education Statistics\u27 nationally representative Schools and Staffing Survey (SASS) and its longitudinal supplement, the Teacher Follow-Up Survey (TFS).

Hybrid optical isolator, circulator or switch, and systems utilizing same

An optical circulator/isolator is implemented in a semiconductor package formed by a semiconductor substrate, which supports integral thin film waveguide polarization splitters and combiners, and a semiconductor lid, which supports four spherical lenses and a polarization rotator. The latter is a composite of at least two adjacent slabs of optically active material, one slab serving as a nonreciprocal 45° rotator (e.g., a Faraday rotator) and the other as a reciprocal 45° rotator (e.g., half-wave device). The lenses, serving both as beam expanders/condensers and as collimators, are positioned between the waveguide ends and major surfaces of the composite slab. When used with means for reversing the direction of the magnetic field in the nonreciprocal rotator, the device functions also as a switch. Also described are system architectures made possible by these devices; e.g., a single-fiber LAN having a ring architecture for non-interfering counter flow of information and a single fiber, bidirectional FTTH system for handling CATV and POTS.Published versio