An extendible reconfigurable robot based on hot melt adhesives

The ability to physically enlarge one’s own body structures plays an important role in robustness and adaptability of biological systems. It is, however, a significant challenge for robotic systems to autonomously extend their bodies. To address this challenge, this paper presents an approach using Hot Melt Adhesives (HMAs) to assemble and integrate extensions into the robotic body. HMAs are thermoplastics with temperature dependent adhesiveness and bonding strength. We exploit this property of HMAs to connect passive external objects to the robot’s own body structures, and investigate the characteristics of the approach. In a set of elementary configurations, we analyze to which extent a robot can self-reconfigure using the proposed method. We found that the extension limit depends on the mechanical properties of the extension, and the reconfiguration algorithm. A five-axis robot manipulator equipped with specialized HMA handling devices is employed to demonstrate these findings in four experiments. It is shown that the robot can construct and integrate extensions into its own body, which allow it to solve tasks that it could not achieve in its initial configuration.This work was supported by the Swiss National Science Foundation Professorship Grant No. PP00P2123387/1, and the ETH Zurich Research Grant ETH-23-10-3.This is the author accepted manuscript. The final version is available from Springer via http://dx.doi.org/10.1007/s10514-015-9428-

The generalization of the Regge-Wheeler equation for self-gravitating matter fields

It is shown that the dynamical evolution of perturbations on a static spacetime is governed by a standard pulsation equation for the extrinsic curvature tensor. The centerpiece of the pulsation equation is a wave operator whose spatial part is manifestly self-adjoint. In contrast to metric formulations, the curvature-based approach to gravitational perturbation theory generalizes in a natural way to self-gravitating matter fields. For a certain relevant subspace of perturbations the pulsation operator is symmetric with respect to a positive inner product and therefore allows spectral theory to be applied. In particular, this is the case for odd-parity perturbations of spherically symmetric background configurations. As an example, the pulsation equations for self-gravitating, non-Abelian gauge fields are explicitly shown to be symmetric in the gravitational, the Yang Mills, and the off-diagonal sector.Comment: 4 pages, revtex, no figure

Geometrical optics analysis of the short-time stability properties of the Einstein evolution equations

Many alternative formulations of Einstein's evolution have lately been examined, in an effort to discover one which yields slow growth of constraint-violating errors. In this paper, rather than directly search for well-behaved formulations, we instead develop analytic tools to discover which formulations are particularly ill-behaved. Specifically, we examine the growth of approximate (geometric-optics) solutions, studied only in the future domain of dependence of the initial data slice (e.g. we study transients). By evaluating the amplification of transients a given formulation will produce, we may therefore eliminate from consideration the most pathological formulations (e.g. those with numerically-unacceptable amplification). This technique has the potential to provide surprisingly tight constraints on the set of formulations one can safely apply. To illustrate the application of these techniques to practical examples, we apply our technique to the 2-parameter family of evolution equations proposed by Kidder, Scheel, and Teukolsky, focusing in particular on flat space (in Rindler coordinates) and Schwarzchild (in Painleve-Gullstrand coordinates).Comment: Submitted to Phys. Rev.

Advantages of modified ADM formulation: constraint propagation analysis of Baumgarte-Shapiro-Shibata-Nakamura system

Several numerical relativity groups are using a modified ADM formulation for their simulations, which was developed by Nakamura et al (and widely cited as Baumgarte-Shapiro-Shibata-Nakamura system). This so-called BSSN formulation is shown to be more stable than the standard ADM formulation in many cases, and there have been many attempts to explain why this re-formulation has such an advantage. We try to explain the background mechanism of the BSSN equations by using eigenvalue analysis of constraint propagation equations. This analysis has been applied and has succeeded in explaining other systems in our series of works. We derive the full set of the constraint propagation equations, and study it in the flat background space-time. We carefully examine how the replacements and adjustments in the equations change the propagation structure of the constraints, i.e. whether violation of constraints (if it exists) will decay or propagate away. We conclude that the better stability of the BSSN system is obtained by their adjustments in the equations, and that the combination of the adjustments is in a good balance, i.e. a lack of their adjustments might fail to obtain the present stability. We further propose other adjustments to the equations, which may offer more stable features than the current BSSN equations.Comment: 10 pages, RevTeX4, added related discussion to gr-qc/0209106, the version to appear in Phys. Rev.

Global behavior of solutions to the static spherically symmetric EYM equations

The set of all possible spherically symmetric magnetic static Einstein-Yang-Mills field equations for an arbitrary compact semi-simple gauge group $G$ was classified in two previous papers. Local analytic solutions near the center and a black hole horizon as well as those that are analytic and bounded near infinity were shown to exist. Some globally bounded solutions are also known to exist because they can be obtained by embedding solutions for the $G=SU(2)$ case which is well understood. Here we derive some asymptotic properties of an arbitrary global solution, namely one that exists locally near a radial value $r_{0}$, has positive mass $m(r)$ at $r_{0}$ and develops no horizon for all $r>r_{0}$. The set of asymptotic values of the Yang-Mills potential (in a suitable well defined gauge) is shown to be finite in the so-called regular case, but may form a more complicated real variety for models obtained from irregular rotation group actions.Comment: 43 page

Influence of Vitis xylem fluid and xylem fluid plus cecropin on growth of Xylella fastidiosa

Colony growth of Xylella fastidiosa (UCLA PD and STL PD strains) was quantified after incubation for 48 h in xylem fluid of Vitis rotundifolia Michx. cv. Noble and Vitis vinifera L. cv. Chardonnay. Xylem fluid was collected from grapevines in the field (dormant and growing season) and from container-grown plants in a screen house (growing season). Colony forming units·ml-1 (cfu·ml-1) were counted 15 d after plating on periwinkle wilt (PW+) medium. Colony growth was promoted or inhibited compared to PW+ medium, and was dependent on X. fastidiosa strain, plant species and source of xylem fluid. The efficacy of cecropin A and B was tested against this bacterium. Colony growth of X. fastidiosa was greatly inhibited after a 1-h-exposure to cecropin A or B. The minimum inhibitory concentration (MIC) of cecropin A or B for 100 % inhibition of X. fastidiosa was < 1 μM. The activity of cecropin B in xylem fluid of V. rotundifolia cv. Noble was progressively reduced over time from 0.2 to 24 h. When 2 and 10 μM concentrations of cecropin A and cecropin B were mixed with xylem fluid for 24 h, a substantial amount of bacterial growth occurred after subsequent plating; shorter time intervals did not degrade the cecropins and did not prevent colony growth. Cecropin B (1 μM) added to xylem fluid of V. rotundifolia cv. Noble and V. vinifera cv. Chardonnay for 24, 48, 72 and 96 h did not prevent subsequent colony growth. Colony number tended to be higher for V. rotundifolia cv. Noble than V. vinifera cv. Chardonnay. Tricine-sodium dodecyl sulphate polyacrylamide gel electrophoresis (Tricine-SDS-PAGE) of cecropin B in xylem fluid showed that cecropin B degraded completely (V. vinifera cv. Chardonnay) or almost completely (V. rotundifolia cv. Noble) after 96 h

Constraint propagation in the family of ADM systems

The current important issue in numerical relativity is to determine which formulation of the Einstein equations provides us with stable and accurate simulations. Based on our previous work on "asymptotically constrained" systems, we here present constraint propagation equations and their eigenvalues for the Arnowitt-Deser-Misner (ADM) evolution equations with additional constraint terms (adjusted terms) on the right hand side. We conjecture that the system is robust against violation of constraints if the amplification factors (eigenvalues of Fourier-component of the constraint propagation equations) are negative or pure-imaginary. We show such a system can be obtained by choosing multipliers of adjusted terms. Our discussion covers Detweiler's proposal (1987) and Frittelli's analysis (1997), and we also mention the so-called conformal-traceless ADM systems.Comment: 11 pages, RevTeX, 2 eps figure

Generalized harmonic formulation in spherical symmetry

In this pedagogically structured article, we describe a generalized harmonic formulation of the Einstein equations in spherical symmetry which is regular at the origin. The generalized harmonic approach has attracted significant attention in numerical relativity over the past few years, especially as applied to the problem of binary inspiral and merger. A key issue when using the technique is the choice of the gauge source functions, and recent work has provided several prescriptions for gauge drivers designed to evolve these functions in a controlled way. We numerically investigate the parameter spaces of some of these drivers in the context of fully non-linear collapse of a real, massless scalar field, and determine nearly optimal parameter settings for specific situations. Surprisingly, we find that many of the drivers that perform well in 3+1 calculations that use Cartesian coordinates, are considerably less effective in spherical symmetry, where some of them are, in fact, unstable.Comment: 47 pages, 15 figures. v2: Minor corrections, including 2 added references; journal version

Electroencephalographic source imaging: a prospective study of 152 operated epileptic patients

Electroencephalography is mandatory to determine the epilepsy syndrome. However, for the precise localization of the irritative zone in patients with focal epilepsy, costly and sometimes cumbersome imaging techniques are used. Recent small studies using electric source imaging suggest that electroencephalography itself could be used to localize the focus. However, a large prospective validation study is missing. This study presents a cohort of 152 operated patients where electric source imaging was applied as part of the pre-surgical work-up allowing a comparison with the results from other methods. Patients (n = 152) with >1 year postoperative follow-up were studied prospectively. The sensitivity and specificity of each imaging method was defined by comparing the localization of the source maximum with the resected zone and surgical outcome. Electric source imaging had a sensitivity of 84% and a specificity of 88% if the electroencephalogram was recorded with a large number of electrodes (128–256 channels) and the individual magnetic resonance image was used as head model. These values compared favourably with those of structural magnetic resonance imaging (76% sensitivity, 53% specificity), positron emission tomography (69% sensitivity, 44% specificity) and ictal/interictal single-photon emission-computed tomography (58% sensitivity, 47% specificity). The sensitivity and specificity of electric source imaging decreased to 57% and 59%, respectively, with low number of electrodes (<32 channels) and a template head model. This study demonstrated the validity and clinical utility of electric source imaging in a large prospective study. Given the low cost and high flexibility of electroencephalographic systems even with high channel counts, we conclude that electric source imaging is a highly valuable tool in pre-surgical epilepsy evaluation

Real World Bayesian Optimization Using Robots to Clean Liquid Spills

Developing robots that can contribute to cleaning could have a significant impact on the lives of many. Cleaning wet liquid spills is a particularly challenging task for a robotic system, and has several high impact applications. This is a hard task to physically model due to the complex interactions between cleaning materials and the surface. As such, to the authors' knowledge there has been no prior work in this area. A new method for finding optimal control parameters for the cleaning of liquid spills is required by developing a robotic system which iteratively learns to clean through physical experimentation. The robot creates a liquid spill, cleans and assesses performance and uses Bayesian optimization to find the optimal control parameters for a given size of liquid spill. The automation process enabled the experiment to be repeated more than 400 times over 20 hours to find the optimal wiping control parameters for many different conditions. We then show that these solutions can be extrapolated for different spill conditions. The optimized control parameters showed reliable and accurate performances, which in some cases, outperformed humans at the same task.This work was supported by BEKO PLC and Symphony Kitchens. We are especially thankful for the valuable inputs from Dr Graham Anderson and Dr Natasha Conway