Task-relevant grasp selection: A joint solution to planning grasps and manipulative motion trajectories

This paper addresses the problem of jointly planning both grasps and subsequent manipulative actions. Previously, these two problems have typically been studied in isolation, however joint reasoning is essential to enable robots to complete real manipulative tasks. In this paper, the two problems are addressed jointly and a solution that takes both into consideration is proposed. To do so, a manipulation capability index is defined, which is a function of both the task execution waypoints and the object grasping contact points. We build on recent state-of-the-art grasp-learning methods, to show how this index can be combined with a likelihood function computed by a probabilistic model of grasp selection, enabling the planning of grasps which have a high likelihood of being stable, but which also maximise the robot's capability to deliver a desired post-grasp task trajectory. We also show how this paradigm can be extended, from a single arm and hand, to enable efficient grasping and manipulation with a bi-manual robot. We demonstrate the effectiveness of the approach using experiments on a simulated as well as a real robot

X-ray screening identifies active site and allosteric inhibitors of SARS-CoV-2 main protease

The coronavirus disease (COVID-19) caused by SARS-CoV-2 is creating tremendous human suffering. To date, no effective drug is available to directly treat the disease. In a search for a drug against COVID-19, we have performed a high-throughput X-ray crystallographic screen of two repurposing drug libraries against the SARS-CoV-2 main protease (M^(pro)), which is essential for viral replication. In contrast to commonly applied X-ray fragment screening experiments with molecules of low complexity, our screen tested already approved drugs and drugs in clinical trials. From the three-dimensional protein structures, we identified 37 compounds that bind to M^(pro). In subsequent cell-based viral reduction assays, one peptidomimetic and six non-peptidic compounds showed antiviral activity at non-toxic concentrations. We identified two allosteric binding sites representing attractive targets for drug development against SARS-CoV-2

X ray screening identifies active site and allosteric inhibitors of SARS CoV 2 main protease

The coronavirus disease COVID 19 caused by SARS CoV 2 is creating tremendous human suffering. To date, no effective drug is available to directly treat the disease. In a search for a drug against COVID 19, we have performed a high throughput x ray crystallographic screen of two repurposing drug libraries against the SARS CoV 2 main protease Mpro , which is essential for viral replication. In contrast to commonly applied x ray fragment screening experiments with molecules of low complexity, our screen tested already approved drugs and drugs in clinical trials. From the three dimensional protein structures, we identified 37 compounds that bind to Mpro. In subsequent cell based viral reduction assays, one peptidomimetic and six nonpeptidic compounds showed antiviral activity at nontoxic concentrations. We identified two allosteric binding sites representing attractive targets for drug development against SARS CoV

Towards advanced robotic manipulation for nuclear decommissioning: A pilot study on tele-operation and autonomy

We present early pilot-studies of a new international project, developing advanced robotics to handle nuclear waste. Despite enormous remote handling requirements, there has been remarkably little use of robots by the nuclear industry. The few robots deployed have been directly teleoperated in rudimentary ways, with no advanced control methods or autonomy. Most remote handling is still done by an aging workforce of highly skilled experts, using 1960s style mechanical Master-Slave devices. In contrast, this paper explores how novice human operators can rapidly learn to control modern robots to perform basic manipulation tasks; also how autonomous robotics techniques can be used for operator assistance, to increase throughput rates, decrease errors, and enhance safety. We compare humans directly teleoperating a robot arm, against human-supervised semi-autonomous control exploiting computer vision, visual servoing and autonomous grasping algorithms. We show how novice operators rapidly improve their performance with training; suggest how training needs might scale with task complexity; and demonstrate how advanced autonomous robotics techniques can help human operators improve their overall task performance. An additional contribution of this paper is to show how rigorous experimental and analytical methods from human factors research, can be applied to perform principled scientific evaluations of human test-subjects controlling robots to perform practical manipulative tasks