Inside-out Infrared Marker Tracking via Head Mounted Displays for Smart Robot Programming

Intuitive robot programming through use of tracked smart input devices relies on fixed, external tracking systems, most often employing infra-red markers. Such an approach is frequently combined with projector-based augmented reality for better visualisation and interface. The combined system, although providing an intuitive programming platform with short cycle times even for inexperienced users, is immobile, expensive and requires extensive calibration. When faced with a changing environment and large number of robots it becomes sorely impractical. Here we present our work on infra-red marker tracking using the Microsoft HoloLens head-mounted display. The HoloLens can map the environment, register the robot on-line, and track smart devices equipped with infra-red markers in the robot coordinate system. We envision our work to provide the basis to transfer many of the paradigms developed over the years for systems requiring a projector and a tracked input device into a highly-portable system that does not require any calibration or special set-up. We test the quality of the marker-tracking in an industrial robot cell and compare our tracking with a ground truth obtained via an ART-3 tracking system.Comment: As accepted to the 5th International Workshop on Virtual, Augmented, and Mixed Reality for HR

Robotics Education and Research at Scale: A Remotely Accessible Robotics Development Platform

This paper introduces the KUKA Robot Learning Lab at KIT - a remotely accessible robotics testbed. The motivation behind the laboratory is to make state-of-the-art industrial lightweight robots more accessible for education and research. Such expensive hardware is usually not available to students or less privileged researchers to conduct experiments. This paper describes the design and operation of the Robot Learning Lab and discusses the challenges that one faces when making experimental robot cells remotely accessible. Especially safety and security must be ensured, while giving users as much freedom as possible when developing programs to control the robots. A fully automated and efficient processing pipeline for experiments makes the lab suitable for a large amount of users and allows a high usage rate of the robots

(Metallo)porphyrins for potential materials science applications

The bottom-up approach to replace existing devices by molecular-based systems is a subject that attracts permanently increasing interest. Molecular-based devices offer not only to miniaturize the device further, but also to benefit from advanced functionalities of deposited molecules. Furthermore, the molecules itself can be tailored to allow via their self-assembly the potential fabrication of devices with an application potential, which is still unforeseeable at this time. Herein, we review efforts to use discrete (metallo)porphyrins for the formation of (sub)monolayers by surface-confined polymerization, of monolayers formed by supramolecular recognition and of thin films formed by sublimation techniques. Selected physical properties of these systems are reported as well. The application potential of those ensembles of (metallo)porphyrins in materials science is discussed

Regulation of two motor patterns enables the gradual adjustment of locomotion strategy in Caenorhabditis elegans

In animal locomotion a tradeoff exists between stereotypy and flexibility: fast long-distance travelling (LDT) requires coherent regular motions, while local sampling and area-restricted search (ARS) rely on flexible movements. We report here on a posture control system in C. elegans that coordinates these needs. Using quantitative posture analysis we explain worm locomotion as a composite of two modes: regular undulations versus flexible turning. Graded reciprocal regulation of both modes allows animals to flexibly adapt their locomotion strategy under sensory stimulation along a spectrum ranging from LDT to ARS. Using genetics and functional imaging of neural activity we characterize the counteracting interneurons AVK and DVA that utilize FLP-1 and NLP-12 neuropeptides to control both motor modes. Gradual regulation of behaviors via this system is required for spatial navigation during chemotaxis. This work shows how a nervous system controls simple elementary features of posture to generate complex movements for goal-directed locomotion strategies

A Novel Haptic Interface for Free Locomotion in Extended Range Telepresence Scenarios

Telepresence gives a user the impression of actually being present in a distant environment. A mobile teleoperator acts as a proxy in this target environment, replicates the user\u27s motion, and records sensory information, which is transferred to the user and displayed in real-time. As a result the user is immersed in the target environment. The user can then control the teleoperator by walking naturally. Motion Compression, a nonlinear mapping between the user\u27s and the robot\u27s motion, allows exploration of large target environments even from small user environments. For manipulation tasks haptic feedback is important. However, current haptic displays do not allow wide-area motion. In this work we present our design of a novel haptic display for simultaneous wide area motion and haptic interaction

Bone morphogenetic protein-7 release from endogenous neural precursor cells suppresses the tumourigenicity of stem-like glioblastoma cells

Glioblastoma cells with stem-like properties control brain tumour growth and recurrence. Here, we show that endogenous neural precursor cells perform an anti-tumour response by specifically targeting stem-like brain tumour cells. In vitro, neural precursor cells predominantly express bone morphogenetic protein-7; bone morphogenetic protein-7 is constitutively released from neurospheres and induces canonical bone morphogenetic protein signalling in stem-like glioblastoma cells. Exposure of human and murine stem-like brain tumour cells to neurosphere-derived bone morphogenetic protein-7 induces tumour stem cell differentiation, attenuates stem-like marker expression and reduces self-renewal and the ability for tumour initiation. Neurosphere-derived or recombinant bone morphogenetic protein-7 reduces glioblastoma expansion from stem-like cells by down-regulating the transcription factor Olig2. In vivo, large numbers of bone morphogenetic protein-7-expressing neural precursors encircle brain tumours in young mice, induce canonical bone morphogenetic protein signalling in stem-like glioblastoma cells and can thereby attenuate tumour formation. This anti-tumour response is strongly reduced in older mice. Our results indicate that endogenous neural precursor cells protect the young brain from glioblastoma by releasing bone morphogenetic protein-7, which acts as a paracrine tumour suppressor that represses proliferation, self-renewal and tumour-initiation of stem-like glioblastoma cell