A Reachability Tree-Based Algorithm for Robot Task and Motion Planning

This paper presents a novel algorithm for robot task and motion planning (TAMP) problems by utilizing a reachability tree. While tree-based algorithms are known for their speed and simplicity in motion planning (MP), they are not well-suited for TAMP problems that involve both abstracted and geometrical state variables. To address this challenge, we propose a hierarchical sampling strategy, which first generates an abstracted task plan using Monte Carlo tree search (MCTS) and then fills in the details with a geometrically feasible motion trajectory. Moreover, we show that the performance of the proposed method can be significantly enhanced by selecting an appropriate reward for MCTS and by using a pre-generated goal state that is guaranteed to be geometrically feasible. A comparative study using TAMP benchmark problems demonstrates the effectiveness of the proposed approach.Comment: IEEE International Conference on Robotics and Automation (ICRA) 202

DANCE: Differentiable Accelerator/Network Co-Exploration

To cope with the ever-increasing computational demand of the DNN execution, recent neural architecture search (NAS) algorithms consider hardware cost metrics into account, such as GPU latency. To further pursue a fast, efficient execution, DNN-specialized hardware accelerators are being designed for multiple purposes, which far-exceeds the efficiency of the GPUs. However, those hardware-related metrics have been proven to exhibit non-linear relationships with the network architectures. Therefore it became a chicken-and-egg problem to optimize the network against the accelerator, or to optimize the accelerator against the network. In such circumstances, this work presents DANCE, a differentiable approach towards the co-exploration of the hardware accelerator and network architecture design. At the heart of DANCE is a differentiable evaluator network. By modeling the hardware evaluation software with a neural network, the relation between the accelerator architecture and the hardware metrics becomes differentiable, allowing the search to be performed with backpropagation. Compared to the naive existing approaches, our method performs co-exploration in a significantly shorter time, while achieving superior accuracy and hardware cost metrics.Comment: Accepted to DAC 202

Reliable diameter control of carbon nanotube nanowires using withdrawal velocity

Carbon nanotube (CNT) nanobundles are widely used in nanoscale imaging, fabrication, and electrochemical and biological sensing. The diameter of CNT nanobundles should be controlled precisely, because it is an important factor in determining electrode performance. Here, we fabricated CNT nanobundles on tungsten tips using dielectrophoresis (DEP) force and controlled their diameters by varying the withdrawal velocity of the tungsten tips. Withdrawal velocity pulling away from the liquid-air interface could be an important, reliable parameter to control the diameter of CNT nanobundles. The withdrawal velocity was controlled automatically and precisely with a one-dimensional motorized stage. The effect of the withdrawal velocity on the diameter of CNT nanobundles was analyzed theoretically and compared with the experimental results. Based on the attachment efficiency, the withdrawal velocity is inversely proportional to the diameter of the CNT nanobundles; this has been demonstrated experimentally. Control of the withdrawal velocity will play an important role in fabricating CNT nanobundles using DEP phenomena.110Ysciescopu

Multi-modal imaging using a cascaded microscope design

We present a new Multimodal Fiber Array Snapshot Technique (M-FAST), based on an array of 96 compact cameras placed behind a primary objective lens and a fiber bundle array. which is capable of large-area, high-resolution, multi-channel video acquisition. The proposed design provides two key improvements to prior cascaded imaging system approaches: a novel optical arrangement that accommodates the use of planar camera arrays, and the new ability to acquire multi-modal image data acquisition. M-FAST is a multi-modal, scalable imaging system that can acquire snapshot dual-channel fluorescence images as well as d phase contrast measurements over a large 8x10mm^2 FOV at 2.2um full-pitch resolution

Enabling Hard Constraints in Differentiable Neural Network and Accelerator Co-Exploration

Co-exploration of an optimal neural architecture and its hardware accelerator is an approach of rising interest which addresses the computational cost problem, especially in low-profile systems. The large co-exploration space is often handled by adopting the idea of differentiable neural architecture search. However, despite the superior search efficiency of the differentiable co-exploration, it faces a critical challenge of not being able to systematically satisfy hard constraints such as frame rate. To handle the hard constraint problem of differentiable co-exploration, we propose HDX, which searches for hard-constrained solutions without compromising the global design objectives. By manipulating the gradients in the interest of the given hard constraint, high-quality solutions satisfying the constraint can be obtained.Comment: publisehd at DAC'2

An Autonomous Human Following Caddie Robot with High-Level Driving Functions

Nowadays, mobile robot platforms are utilized in various fields not only for transportation but also for other diverse services such as industrial, medical and, sports, etc. Mobile robots are also an emerging application as sports field robots, where they can help serve players or even play the games. In this paper, a novel caddie robot which can autonomously follow the golfer as well as provide useful information such as golf course navigation system and weather updates, is introduced. The locomotion of the caddie robot is designed with two modes: autonomous human following mode and manual driving mode. The transition between each mode can be achieved manually or by an algorithm based on the velocity, heading angle, and inclination of the ground surface. Moreover, the transition to manual mode is activated after a caddie robot has recognized the human intention input by hand. In addition, the advanced control algorithm along with a trajectory generator for the caddie robot are developed taking into consideration the locomotion modes. Experimental results show that the proposed strategies to drive various operating modes are efficient and the robot is verified to be utilized in the golf course. © 2020 by the authors. Licensee MDPI, Basel, Switzerland.1

One-directional flow of ionic solutions along fine electrodes under an alternating current electric field

Electric fields are widely used for controlling liquids in various research fields. To control a liquid, an alternating current (AC) electric field can offer unique advantages over a direct current (DC) electric field, such as fast and programmable flows and reduced side effects, namely the generation of gas bubbles. Here, we demonstrate one-directional flow along carbon nanotube nanowires under an AC electric field, with no additional equipment or frequency matching. This phenomenon has the following characteristics: First, the flow rates of the transported liquid were changed by altering the frequency showing Gaussian behaviour. Second, a particular frequency generated maximum liquid flow. Third, flow rates with an AC electric field (approximately nanolitre per minute) were much faster than those of a DC electric field (approximately picolitre per minute). Fourth, the flow rates could be controlled by changing the applied voltage, frequency, ion concentration of the solution and offset voltage. Our finding of microfluidic control using an AC electric field could provide a new method for controlling liquids in various research fields