Efficient delivery of robotics programming educational content using cloud robotics

In this paper, we report on our use of cloud-robotics solutions to teach a Robotics Applications Programming course at Zurich University of Applied Sciences (ZHAW). The usage of Kubernetes based cloud computing environment combined with real robots - turtlebots and Niryo arms - allowed us to: 1) minimize the set up times required to provide a Robotic Operating System (ROS) simulation and development environment to all students independently of their laptop architecture and OS; 2) provide a seamless “simulation to real” experience preserving the exciting experience of writing software interacting with the physical world; and 3) sharing GPUs across multiple student groups, thus using resources efficiently. We describe our requirements, solution design, experience working with the solution in the educational context and areas where it can be further improved. This may be of interest to other educators who may want to replicate our experience

Cloud native robotic applications with GPU sharing on Kubernetes

Accepted submission at the Workshop "Cloud and Fog Robotics In The Age of Deep Learning".In this paper we discuss our experience in teaching the Robotic Applications Programming course at ZHAW combining the use of a Kubernetes (k8s) cluster and real, heterogeneous, robotic hardware. We discuss the main advantages of our solutions in terms of seamless "simulation to real'' experience for students and the main shortcomings we encountered with networking and sharing GPUs to support deep learning workloads. We describe the current and foreseen alternatives to avoid these drawbacks in future course editions and propose a more cloud-native approach to deploying multiple robotics applications on a k8s cluster

Gap Junctions

Gap junctions are essential to the function of multicellular animals, which require a high degree of coordination between cells. In vertebrates, gap junctions comprise connexins and currently 21 connexins are known in humans. The functions of gap junctions are highly diverse and include exchange of metabolites and electrical signals between cells, as well as functions, which are apparently unrelated to intercellular communication. Given the diversity of gap junction physiology, regulation of gap junction activity is complex. The structure of the various connexins is known to some extent; and structural rearrangements and intramolecular interactions are important for regulation of channel function. Intercellular coupling is further regulated by the number and activity of channels present in gap junctional plaques. The number of connexins in cell-cell channels is regulated by controlling transcription, translation, trafficking, and degradation; and all of these processes are under strict control. Once in the membrane, channel activity is determined by the conductive properties of the connexin involved, which can be regulated by voltage and chemical gating, as well as a large number of posttranslational modifications. The aim of the present article is to review our current knowledge on the structure, regulation, function, and pharmacology of gap junctions. This will be supported by examples of how different connexins and their regulation act in concert to achieve appropriate physiological control, and how disturbances of connexin function can lead to disease. © 2012 American Physiological Society. Compr Physiol 2:1981-2035, 2012