Recognising the Clothing Categories from Free-Configuration Using Gaussian-Process-Based Interactive Perception

In this paper, we propose a Gaussian Process- based interactive perception approach for recognising highly- wrinkled clothes. We have integrated this recognition method within a clothes sorting pipeline for the pre-washing stage of an autonomous laundering process. Our approach differs from reported clothing manipulation approaches by allowing the robot to update its perception confidence via numerous interactions with the garments. The classifiers predominantly reported in clothing perception (e.g. SVM, Random Forest) studies do not provide true classification probabilities, due to their inherent structure. In contrast, probabilistic classifiers (of which the Gaussian Process is a popular example) are able to provide predictive probabilities. In our approach, we employ a multi-class Gaussian Process classification using the Laplace approximation for posterior inference and optimising hyper-parameters via marginal likelihood maximisation. Our experimental results show that our approach is able to recognise unknown garments from highly-occluded and wrinkled con- figurations and demonstrates a substantial improvement over non-interactive perception approaches

Marketing Percolation

A percolation model is presented, with computer simulations for illustrations, to show how the sales of a new product may penetrate the consumer market. We review the traditional approach in the marketing literature, which is based on differential or difference equations similar to the logistic equation (Bass 1969). This mean field approach is contrasted with the discrete percolation on a lattice, with simulations of "social percolation" (Solomon et al 2000) in two to five dimensions giving power laws instead of exponential growth, and strong fluctuations right at the percolation threshold.Comment: to appear in Physica

Improved Position Sensor for Feedback Control of Levitation

An improved optoelectronic apparatus has been developed to provide the position feedback needed for controlling the levitation subsystem of a containerless-processing system. As explained, the advantage of this apparatus over prior optoelectronic apparatuses that have served this purpose stems from the use of an incandescent lamp, instead of a laser, to illuminate the levitated object. In containerless processing, a small object to be processed is levitated (e.g., by use of a microwave, low-frequency electromagnetic, electrostatic, or acoustic field) so that it is not in contact with the wall of the processing chamber or with any other solid object during processing. In the case of electrostatic or low-frequency electromagnetic levitation, real-time measurement of the displacement of the levitated object from its nominal levitation position along the vertical axis (and, in some cases, along one or two horizontal axes) is needed for feedback control of the levitating field

Patient attitudes towards analgesia and their openness to non-pharmacological methods such as acupuncture in the emergency department

Aims: To investigate patient attitudes to analgesia, opioids and non-pharmacological analgesia including acupuncture, in the ED. Methods: ED patients with pain were surveyed regarding: pain scores, satisfaction, addiction concern, non-pharmacological methods of pain relief, and acupuncture. Data were analysed using logistic regression. Results: Of 196 adult patients, 52.8% were ‘very satisfied’ with analgesia. Most patients (84.7%) would accept non-pharmacological methods including acupuncture (68.9%) and 78.6% were not concerned about addiction. Satisfaction was associated with male gender, and ‘adequate analgesia’ but not with opioids. Conclusion: Most patients were generally satisfied with ED analgesia and were open to non-pharmacologic analgesia including acupuncture

Capabilities of the Environmental Effects Branch at Marshall Space Flight Cente

The Environmental Effects Branch at the Marshall Space Flight Center supports a myriad array of programs for NASA, DoD, and commercial space including human exploration, advanced space propulsion, improving life on Earth, and the study of the Sun, the Earth, and the solar system. The branch provides testing, evaluation, and qualification of materials for use on external spacecraft surfaces and in contamination-sensitive systems. Space environment capabilities include charged particle radiation, ultraviolet radiation, atomic oxygen, impact, plasma, and thermal vacuum, anchored by flight experiments and analysis of returned space hardware. These environmental components can be combined for solar wind or planetary surface environment studies or to evaluate synergistic effects. The Impact Testing Facility allows simulation of impacts ranging from sand and rain to micrometeoroids and orbital debris in order to evaluate materials and components for flight and ground-based systems. The Contamination Control Team is involved in the evaluation of environmentally-friendly replacements for HCFC-225 for use in propulsion oxygen systems, developing cleaning methods for additively manufactured hardware, and reducing risk for the Space Launch System

The Effects of Building Representation and Clustering in Large-Eddy Simulations of Flows in Urban Canopies

We perform large-eddy simulations of neutral atmospheric boundary-layer flow over a cluster of buildings surrounded by relatively flat terrain. The first investigated question is the effect of the level of building detail that can be included in the numerical model, a topic not yet addressed by any previous study. The simplest representation is found to give similar results to more refined representations for the mean flow, but not for turbulence. The wind direction on the other hand is found to be important for both mean and turbulent parameters. As many suburban areas are characterised by the clustering of buildings and homes into small areas separated by surfaces of lower roughness, we look at the adjustment of the atmospheric surface layer as it flows from the smoother terrain to the built-up area. This transition has unexpected impacts on the flow; mainly, a zone of global backscatter (energy transfer from the turbulent eddies to the mean flow) is found at the upstream edge of the built-up are

Electrostatic Levitation for Studies of Additive Manufactured Materials

The electrostatic levitation (ESL) laboratory at NASA's Marshall Space Flight Center is a unique facility for investigators studying high temperature materials. The laboratory boasts two levitators in which samples can be levitated, heated, melted, undercooled, and resolidified. Electrostatic levitation minimizes gravitational effects and allows materials to be studied without contact with a container or instrumentation. The lab also has a high temperature emissivity measurement system, which provides normal spectral and normal total emissivity measurements at use temperature. The ESL lab has been instrumental in many pioneering materials investigations of thermophysical properties, e.g., creep measurements, solidification, triggered nucleation, and emissivity at high temperatures. Research in the ESL lab has already led to the development of advanced high temperature materials for aerospace applications, coatings for rocket nozzles, improved medical and industrial optics, metallic glasses, ablatives for reentry vehicles, and materials with memory. Modeling of additive manufacturing materials processing is necessary for the study of their resulting materials properties. In addition, the modeling of the selective laser melting processes and its materials property predictions are also underway. Unfortunately, there is very little data for the properties of these materials, especially of the materials in the liquid state. Some method to measure thermophysical properties of additive manufacturing materials is necessary. The ESL lab is ideal for these studies. The lab can provide surface tension and viscosity of molten materials, density measurements, emissivity measurements, and even creep strength measurements. The ESL lab can also determine melting temperature, surface temperatures, and phase transition temperatures of additive manufactured materials. This presentation will provide background on the ESL lab and its capabilities, provide an approach to using the ESL in supporting the development and modeling of the selective laser melting process for metals, and provide an overview of the results to date

Measurement and Control of Oxygen Partial Pressure in an Electrostatic Levitator

Recently the NASA Marshall Space Flight Center electrostatic levitation (ESL) laboratory has been upgraded to include an oxygen control system. This system allows the oxygen partial pressure within the vacuum chamber to be measured and controlled, at elevated temperatures, theoretically in the range from 10(exp -36) to 10(exp 0) bar. The role of active surface agents in liquid metals is fairly well known; however, published surface tension data typically has large scatter, which has been hypothesized to be caused by the presence of oxygen. The surface tension of metals is affected by even a small amount of adsorption of oxygen. It has even been shown that oxygen partial pressures may need to be as low as 10(exp -24) bar to avoid oxidation. While electrostatic levitation is done under high vacuum, oxide films or dissolved oxygen may have significant effects on materials properties, such as surface tension and viscosity. Therefore, the ability to measure and control the oxygen partial pressure within the chamber is highly desirable. The oxygen control system installed at MSFC contains a potentiometric sensor, which measures the oxygen partial pressure, and an oxygen ion pump. In the pump, a pulse-width modulated electric current is applied to yttrium-stabilized zirconia, resulting in oxygen transfer into or out of the system. Also part of the system is a control unit, which consists of temperature controllers for the sensor and pump, PID-based current loop for the ion pump, and a control algorithm. This system can be used to study the effects of oxygen on the thermophysical properties of metals, ceramics, glasses, and alloys. It can also be used to provide more accurate measurements by processing the samples at very low oxygen partial pressures. The oxygen control system will be explained in more detail and an overview of its use and limitations in an electrostatic levitator will be described. Some preliminary measurements have been made, and the results to date will be provided

SHIVA (Spaceflight Holography Investigation in a Virtual Apparatus)

This paper provides the description and results of a ground-based experiment designed to support the spaceflight program SHIVA, which started its flight definition in 1998. SHIVA will apply new diagnostic tools and experimental techniques to test the validity of a newly discovered analytical solution to the general equation of motion of a particle in a fluid. We have designed a spaceflight experiment with the help of the theoretical model that is optimized for testing the model, and for measuring g, g-jitter, and other microgravity phenomena. Our ongoing, ground-based particle/fluid experiment supports both the experimental and theoretical aspects of the project. The ultimate spaceflight experiment will be similar to the ground-based experiment. The "virtual spaceflight chamber" concept asserts that certain spaceflight experiments can be recorded in holograms in such a manner that having the holograms on earth is optically equivalent to being back in space with unlimited time to conduct the experiment. Properly exploited, this concept can save a significant amount of experiment time in space by effectively bringing the. experiment optically back to earth. SHIVA will accomplish the following: record a large number of holograms of particle fields in space under controlled conditions, extract the precise, three-dimensional position of all of the particles as a function of time, examine the effects of all parameters on the motion of the particles, and test these against predictions of the Coimbra-Range1 solution to the general equation of motion. Particle sizes will range from hundreds of microns up to about 2 mm in diameter and will cover a range of densities and fluid viscosities. Forcing functions will be introduced onto the particle field, including at least the following: a) No isolation in the Spacelab vibration environment. b) Isolation from Spacelab. c) Oscillatory motion from 1 to 100 Hz with amplitudes of a few millimeters. d) Convective fields to be introduced mechanically. The first objective of this research is to understand the physics of particle interactions with fluids and other particles in low Reynolds number flows in microgravity. Secondary objectives are to: (1) observe and quantify g-jitter effects and microconvection on particles in fluids, (2) validate an exact solution to the general equation of motion of a particle in a fluid, and (3) to characterize'the ability of isolating platforms to isolate experiments containing particles in liquids

The NASA MSFC Electrostatic Levitation (ESL) Laboratory: Summary of Capabilities, Recent Upgrades, and Future Work

The NASA Marshall Space Flight Center (MSFC) electrostatic levitation (ESL) laboratory has a long history of providing materials research and thermophysical property data. A summary of the labs capabilities, recent upgrades, and ongoing and future work will be provided. The laboratory has recently added two new capabilities to its main levitation chamber: a rapid quench system and an oxygen control system. The rapid quench system allows samples to be dropped into a quench vessel that can be filled with a low melting point material, such as a gallium or indium alloy. Thereby allowing rapid quenching of undercooled liquid metals. The oxygen control system consists of an oxygen sensor, oxygen pump, and a control unit. The sensor is a potentiometric device that determines the difference in oxygen activity between two gas compartments separated by an electrolyte, which is yttria-stabilized zirconia. The pump utilizes coulometric titration to either add or remove oxygen. The system is controlled by a desktop control unit, which can also be accessed via a computer. This system allows the oxygen partial pressure within the vacuum chamber to be measured and controlled, theoretically in the range from 10-36 to 100 bar. The ESL laboratory also has an emissometer, called the High-Temperature Emissivity Measurement System (HiTEMS). This system measures the spectral emissivity of materials from 600degC to 3,000degC. The system consists of a vacuum chamber, a black body source, and a Fourier Transform Infrared Spectrometer (FTIR). The system utilizes optics to swap the signal between the sample and the black body. The system was originally designed to measure the hemispherical spectral emissivity of levitated samples, which are typically 2.5mm spheres. Levitation allows emissivity measurements of molten samples, but more work is required to develop this capability. The system is currently setup measure the near-normal spectral emissivity of stationary samples, which has been used to take measurements of ablative materials, rocket nozzle coating materials, and materials for spacecraft instruments