How Can a Robot Signal Its Incapability to Perform a Certain Task to Humans in an Acceptable Manner?

In this paper, a robot that is using politeness to overcome its incapability to serve is presented. The mobile robot “Alex” is interacting with human office colleagues in their environment and delivers messages, phone calls, and companionship. The robot's battery capacity is not sufficient to survive a full working day. Thus, the robot needs to recharge during the day. By doing so it is unavailable for tasks that involve movement. The study presented in this paper supports the idea that an incapability of fullfiling an appointed task can be overcome by politeness and showing appropriate behaviour. The results, reveal that, even the simple adjustment of spoken utterances towards a more polite phrasing can change the human's perception of the robot companion. This change in the perception can be made visible by analysing the human's behaviour towards the robot

Analysis of Multipath Mitigation Techniques with Land Mobile Satellite Channel Model

Multipath is undesirable for Global Navigation Satellite System (GNSS) receivers, since the reception of multipath can create a significant distortion to the shape of the correlation function leading to an error in the receivers’ position estimate. Many multipath mitigation techniques exist in the literature to deal with the multipath propagation problem in the context of GNSS. The multipath studies in the literature are often based on optimistic assumptions, for example, assuming a static two-path channel or a fading channel with a Rayleigh or a Nakagami distribution. But, in reality, there are a lot of channel modeling issues, for example, satellite-to-user geometry, variable number of paths, variable path delays and gains, Non Line-Of-Sight (NLOS) path condition, receiver movements, etc. that are kept out of consideration when analyzing the performance of these techniques. Therefore, this is of utmost importance to analyze the performance of different multipath mitigation techniques in some realistic measurement-based channel models, for example, the Land Multipath is undesirable for Global Navigation Satellite System (GNSS) receivers, since the reception of multipath can create a significant distortion to the shape of the correlation function leading to an error in the receivers’ position estimate. Many multipath mitigation techniques exist in the literature to deal with the multipath propagation problem in the context of GNSS. The multipath studies in the literature are often based on optimistic assumptions, for example, assuming a static two-path channel or a fading channel with a Rayleigh or a Nakagami distribution. But, in reality, there are a lot of channel modeling issues, for example, satellite-to-user geometry, variable number of paths, variable path delays and gains, Non Line-Of-Sight (NLOS) path condition, receiver movements, etc. that are kept out of consideration when analyzing the performance of these techniques. Therefore, this is of utmost importance to analyze the performance of different multipath mitigation techniques in some realistic measurement-based channel models, for example, the Land Mobile Satellite (LMS) channel model [1]-[4], developed at the German Aerospace Center (DLR). The DLR LMS channel model is widely used for simulating the positioning accuracy of mobile satellite navigation receivers in urban outdoor scenarios. The main objective of this paper is to present a comprehensive analysis of some of the most promising techniques with the DLR LMS channel model in varying multipath scenarios. Four multipath mitigation techniques are chosen herein for performance comparison, namely, the narrow Early-Minus-Late (nEML), the High Resolution Correlator, the C/N0-based two stage delay tracking technique, and the Reduced Search Space Maximum Likelihood (RSSML) delay estimator. The first two techniques are the most popular and traditional ones used in nowadays GNSS receivers, whereas the later two techniques are comparatively new and are advanced techniques, recently proposed by the authors. In addition, the implementation of the RSSML is optimized here for a narrow-bandwidth receiver configuration in the sense that it now requires a significantly less number of correlators and memory than its original implementation. The simulation results show that the reduced-complexity RSSML achieves the best multipath mitigation performance in moderate-to-good carrier-to-noise density ratio with the DLR LMS channel model in varying multipath scenarios

Social Carrying and Defensive Behavior During Colony Emigration in the Leaf-cutting Ant Atta sexdens

In this work, we describe for the first time and under laboratory conditions, the behaviors related to social carrying and defensive strategies during colony emigration in the leaf-cutting ant Atta sexdens. Once colonies were laid on a tray under suboptimal conditions, groups of workers aggregated all over the body surface of the queen and brood, with mandibles half open and legs widely open in a ‘entangle’ formation. Queens were the first caste to be reallocated, followed respectively by the transportation of brood, newly-emerged workers, and pieces of fungus garden to the new nesting site. Contrary to what have been reported to the Myrmicinae species, adult transport followed a stereotyped sequence of acts involving approach, seize and transportation of newly-emerged workers to new target areas. Our results suggest that, in front of rapid unfavorable changes, leaf-cutting ants are capable of reorganize the nest in order to protect their members and resources

Localization of dexamethasone within dendritic core-multishell (CMS) nanoparticles and skin penetration properties studied by multi-frequency electron paramagnetic resonance (EPR) spectroscopy

The skin and especially the stratum corneum (SC) act as a barrier and protect epidermal cells and thus the whole body against xenobiotica of the external environment. Topical skin treatment requires an efficient drug delivery system (DDS). Polymer-based nanocarriers represent novel transport vehicles for dermal application of drugs. In this study dendritic core-multishell (CMS) nanoparticles were investigated as promising candidates. CMS nanoparticles were loaded with a drug (analogue) and were applied to penetration studies of skin. We determined by dual-frequency electron paramagnetic resonance (EPR) how dexamethasone (Dx) labelled with 3-carboxy-2,2,5,5-tetramethyl-1-pyrrolidinyloxy (PCA) is associated with the CMS. The micro-environment of the drug loaded to CMS nanoparticles was investigated by pulsed high-field EPR at cryogenic temperature, making use of the fact that magnetic parameters (g-, A-matrices, and spin-lattice relaxation time) represent specific probes for the micro-environment. Additionally, the rotational correlation time of spin-labelled Dx was probed by continuous wave EPR at ambient temperature, which provides independent information on the drug environment. Furthermore, the penetration depth of Dx into the stratum corneum of porcine skin after different topical applications was investigated. The location of Dx in the CMS nanoparticles is revealed and the function of CMS as penetration enhancers for topical application is shown

Learning grasp affordance reasoning through semantic relations

Reasoning about object affordances allows an autonomous agent to perform generalised manipulation tasks among object instances. While current approaches to grasp affordance estimation are effective, they are limited to a single hypothesis. We present an approach for detection and extraction of multiple grasp affordances on an object via visual input. We define semantics as a combination of multiple attributes, which yields benefits in terms of generalisation for grasp affordance prediction. We use Markov Logic Networks to build a knowledge base graph representation to obtain a probability distribution of grasp affordances for an object. To harvest the knowledge base, we collect and make available a novel dataset that relates different semantic attributes. We achieve reliable mappings of the predicted grasp affordances on the object by learning prototypical grasping patches from several examples. We show our method's generalisation capabilities on grasp affordance prediction for novel instances and compare with similar methods in the literature. Moreover, using a robotic platform, on simulated and real scenarios, we evaluate the success of the grasping task when conditioned on the grasp affordance prediction.Comment: Accepted in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 201

Affordance-Aware Handovers With Human Arm Mobility Constraints

Reasoning about object handover configurations allows an assistive agent to estimate the appropriateness of handover for a receiver with different arm mobility capacities. While there are existing approaches for estimating the effectiveness of handovers, their findings are limited to users without arm mobility impairments and to specific objects. Therefore, current state-of-the-art approaches are unable to hand over novel objects to receivers with different arm mobility capacities. We propose a method that generalises handover behaviours to previously unseen objects, subject to the constraint of a user's arm mobility levels and the task context. We propose a heuristic-guided hierarchically optimised cost whose optimisation adapts object configurations for receivers with low arm mobility. This also ensures that the robot grasps consider the context of the user's upcoming task, i.e., the usage of the object. To understand preferences over handover configurations, we report on the findings of an online study, wherein we presented different handover methods, including ours, to $259$ users with different levels of arm mobility. We find that people's preferences over handover methods are correlated to their arm mobility capacities. We encapsulate these preferences in a statistical relational model (SRL) that is able to reason about the most suitable handover configuration given a receiver's arm mobility and upcoming task. Using our SRL model, we obtained an average handover accuracy of $90.8\%$ when generalising handovers to novel objects.Comment: Accepted for RA-L 202

Enhanced topical delivery of dexamethasone by β-cyclodextrin decorated thermoresponsive nanogels

Highly hydrophilic, responsive nanogels are attractive as potential systems for the topical delivery of bioactives encapsulated in their three-dimensional polymeric scaffold. Yet, these drug carrier systems suffer from drawbacks for efficient delivery of hydrophobic drugs. Addressing this, β-cyclodextrin (βCD) could be successfully introduced into the drug carrier systems by exploiting its unique affinity toward dexamethasone (DXM) as well as its role as topical penetration enhancer. The properties of βCD could be combined with those of thermoresponsive nanogels (tNGs) based on dendritic polyglycerol (dPG) as a crosslinker and linear thermoresponsive polyglycerol (tPG) inducing responsiveness to temperature changes. Electron paramagnetic resonance (EPR) studies localized the drug within the hydrophobic cavity of βCD by differences in its mobility and environmental polarity. In fact, the fabricated carriers combining a particulate delivery system with a conventional penetration enhancer, resulted in an efficient delivery of DXM to the epidermis and the dermis of human skin ex vivo (enhancement compared to commercial DXM cream: ∼2.5 fold in epidermis, ∼30 fold in dermis). Furthermore, DXM encapsulated in βCD tNGs applied to skin equivalents downregulated the expression of proinflammatory thymic stromal lymphopoietin (TSLP) and outperformed a commercially available DXM cream

Microduplications encompassing the Sonic hedgehog limb enhancer ZRS are associated with Haas-type polysyndactyly and Laurin-Sandrow syndrome

Laurin-Sandrow syndrome (LSS) is a rare autosomal dominant disorder characterized by polysyndactyly of hands and/or feet, mirror image duplication of the feet, nasal defects, and loss of identity between fibula and tibia. The genetic basis of LSS is currently unknown. LSS shows phenotypic overlap with Haas-type polysyndactyly (HTS) regarding the digital phenotype. Here we report on five unrelated families with overlapping microduplications encompassing the Sonic hedgehog (SHH) limb enhancer ZPA regulatory sequence (ZRS) on chromosome 7q36. Clinically, the patients show polysyndactyly phenotypes and various types of lower limb malformations ranging from syndactyly to mirror image polydactyly with duplications of the fibulae. We show that larger duplications of the ZRS region (>80 kb) are associated with HTS, whereas smaller duplications (<80 kb) result in the LSS phenotype. On the basis of our data, the latter can be clearly distinguished from HTS by the presence of mirror image polysyndactyly of the feet with duplication of the fibula. Our results expand the clinical phenotype of the ZRS-associated syndromes and suggest that smaller duplications (<80 kb) are associated with a more severe phenotype. In addition, we show that these small microduplications within the ZRS region are the underlying genetic cause of Laurin-Sandrow syndrome