Learning to assemble objects with a robot swarm

Large populations of simple robots can solve complex tasks, but controlling them is still a challenging problem, due to limited communication and computation power. In order to assemble objects, have shown that a human controller can solve such a task. Instead, we investigate how to learn the assembly of multiple objects with a single central controller. We propose splitting the assembly process in two sub-tasks -- generating a top-level assembly policy and learning an object movement policy. The assembly policy plans the trajectories for each object and the object movement policy controls the trajectory execution.The resulting system is able to solve assembly tasks with varying object shapes being assembled as shown in multiple simulation scenarios

Preliminary results in anterior cervical discectomy and fusion with an experimental bioabsorbable cage - clinical and radiological findings in an ovine animal model

Background: Bioabsorbable implants are not widely used in spine surgery. This study investigated the clinical and radiological findings after anterior cervical discectomy and fusion (ACDF) in an ovine animal model with an experimental bioabsorbable cage consisting of magnesium and polymer (poly-ε-caprolactone, PCL) in comparison to a tricortical bone graft as the gold standard procedure. Materials and Methods: 24 full-grown sheep had ACDF of C3/4 and C5/6 with an experimental bioabsorbable implant (magnesium and PCL) in one level and an autologous tricortical bone graft in the second level. The sheep were divided into 4 groups (6 sheep each). After 3, 6, 12, or 24 weeks postoperatively, the cervical spines were harvested and conventional x-rays of each operated segment were conducted. The progress of interbody fusion was classified according to a three-point scoring system. Results: There were no operation related complications except for one intraoperative fracture of the anterior superior iliac spine and two cases of screw loosening and sinking, respectively. In particular, no vascular, neurologic, wound healing or infectious problems were observed. According to the time of follow-up, both interbody fusion devices showed similar behaviour with increasing intervertebral osseointegration and complete arthrodesis in 10 of 12 (83.3%) motion segments after 24 weeks. Conclusions: The bioabsorbable magnesium-PCL cage used in this experimental animal study showed clinically no signs of incompatibility such as infectious or wound healing problems. The radiographic results regarding the osseointegration are comparable between the cage and the bone graft group.Arbeitsgemeinschaft industrieller Forschungsvereinigungen (AiF)German Federal Ministry of Economy and Technology (BMWi

Collaboration Matters: Honey Bee Health as a Transdisciplinary Model for Understanding Real-World Complexity

We develop a transdisciplinary deliberative model that moves beyond traditional scientific collaborations to include nonscientists in designing complexity-oriented research. We use the case of declining honey bee health as an exemplar of complex real-world problems requiring cross-disciplinary intervention. Honey bees are important pollinators of the fruits and vegetables we eat. In recent years, these insects have been dying at alarming rates. To prompt the reorientation of research toward the complex reality in which bees face multiple challenges, we came together as a group, including beekeepers, farmers, and scientists. Over a two-year period, we deliberated about how to study the problem of honey bee deaths and conducted field experiments with bee colonies. We show trust and authority to be crucial factors shaping such collaborative research, and we offer a model for structuring collaboration that brings scientists and nonscientists together with the key objects and places of their shared concerns across time