Towards Generalized Robot Assembly through Compliance-Enabled Contact Formations

Contact can be conceptualized as a set of constraints imposed on two bodies that are interacting with one another in some way. The nature of a contact, whether a point, line, or surface, dictates how these bodies are able to move with respect to one another given a force, and a set of contacts can provide either partial or full constraint on a body's motion. Decades of work have explored how to explicitly estimate the location of a contact and its dynamics, e.g., frictional properties, but investigated methods have been computationally expensive and there often exists significant uncertainty in the final calculation. This has affected further advancements in contact-rich tasks that are seemingly simple to humans, such as generalized peg-in-hole insertions. In this work, instead of explicitly estimating the individual contact dynamics between an object and its hole, we approach this problem by investigating compliance-enabled contact formations. More formally, contact formations are defined according to the constraints imposed on an object's available degrees-of-freedom. Rather than estimating individual contact positions, we abstract out this calculation to an implicit representation, allowing the robot to either acquire, maintain, or release constraints on the object during the insertion process, by monitoring forces enacted on the end effector through time. Using a compliant robot, our method is desirable in that we are able to complete industry-relevant insertion tasks of tolerances <0.25mm without prior knowledge of the exact hole location or its orientation. We showcase our method on more generalized insertion tasks, such as commercially available non-cylindrical objects and open world plug tasks

Shocked Quartz in Polymict Impact Breccia from the Upper Cretaceous Yallalie Impact Structure in Western Australia

Yallalie is a ~12 km diameter circular structure located ~200 km north of Perth, Australia. Previous studies have proposed that the buried structure is a complex impact crater based on geophysical data. Allochthonous breccia exposed near the structure has previously been interpreted as proximal impact ejecta; however, no diagnostic indicators of shock metamorphism have been found. Here we report multiple (27) shocked quartz grains containing planar fractures (PFs) and planar deformation features (PDFs) in the breccia. The PFs occur in up to five sets per grain, while the PDFs occur in up to four sets per grain. Universal stage measurements of all 27 shocked quartz grains confirms that the planar microstructures occur in known crystallographic orientations in quartz corresponding to shock compression from 5 to 20 GPa. Proximity to the buried structure (~4 km) and occurrence of shocked quartz indicates that the breccia represents either primary or reworked ejecta. Ejecta distribution simulated using iSALE hydrocode predicts the same distribution of shock levels at the site as those found in the breccia, which supports a primary ejecta interpretation, although local reworking cannot be excluded. The Yallalie impact event is stratigraphically constrained to have occurred in the interval from 89.8 to 83.6 Ma based on the occurrence of Coniacian clasts in the breccia and undisturbed overlying Santonian to Campanian sedimentary rocks. Yallalie is thus the first confirmed Upper Cretaceous impact structure in Australia

Effects of nucleosome stability on remodeler-catalyzed repositioning

Chromatin remodelers are molecular motors that play essential roles in the regulation of nucleosome positioning and chromatin accessibility. These machines couple the energy obtained from the binding and hydrolysis of ATP to the mechanical work of manipulating chromatin structure through processes that are not completely understood. Here we present a quantitative analysis of nucleosome repositioning by the imitation switch (ISWI) chromatin remodeler and demonstrate that nucleosome stability significantly impacts the observed activity. We show how DNA damage induced changes in the affinity of DNA wrapping within the nucleosome can affect ISWI repositioning activity and demonstrate how assay-dependent limitations can bias studies of nucleosome repositioning. Together, these results also suggest that some of the diversity seen in chromatin remodeler activity can be attributed to the variations in the thermodynamics of interactions between the remodeler, the histones, and the DNA, rather than reflect inherent properties of the remodeler itself

Age and growth of an outbreaking Acanthaster cf. solaris population within the Great Barrier Reef

Despite having been studied for more than 40 years, much about the basic life history of crown-of-thorns starfish (CoTS; Acanthaster spp.) remains poorly understood. Size at age-a key metric of productivity for any animal population-has yet to be clearly defined, primarily due to difficulties in obtaining validated ages and potentially indeterminate growth due to factors such as starvation; within-population variability is entirely unknown. Here we develop age and growth estimates for an outbreaking CoTS population in Australian waters by integrating prior information with data from CoTS collected from multiple outbreaking reefs. Age estimates were made from un-validated band counts of 2038 individual starfish. Results from our three-parameter von Bertalanffy Bayesian hierarchical model show that, under 2013-2014 outbreak conditions, CoTS on the GBR grew to a 349 ( 326, 380) mm (posterior median (95% uncertainty interval)) total diameter at a 0.54 (0.43, 0.66) intrinsic rate of increase. However, we also found substantial evidence (Delta DIC > 200) for inter-reef variability in both maximum size (SD 38 (19, 76)) and intrinsic rate of increase (SD 0.32 (0.20, 0.49)) within the CoTS outbreak initiation area. These results suggest that CoTS demography can vary widely with reef-scale environmental conditions, supporting location-based mechanisms for CoTS outbreaks generally. These findings should help improve population and metapopulation models of CoTS dynamics and better predict the potential damage they may cause in the future

An Overview of CAN-BUS Development, Utilization, and Future Potential in Serial Network Messaging for Off-Road Mobile Equipment

A Controller Area Network (CAN) is a serial network information technology that facilitates the passing of information between Electronic Control Units (ECUs, also known as nodes). Developed by BOSCH in 1986 to circumvent challenges in harness-connected systems and provide improved message handling in automobiles, the CAN interface allows broadcast communication between all connected ECUs within a vehicle’s integrated electronic system through distributed control and decentralized measuring equipment. Since the early uses of CAN in car engine management, improvements in bitrate, bandwidth, and standardization protocols (such as ISO 11898 and SAE J1939) have led to CAN utilization in various industry applications, such as factory automation, aviation, off-highway vehicles, and telematics. Alternative wired and wireless technologies have been used to connect and network with CAN-BUS (such as Ethernet, Bluetooth, Wi-Fi, ZigBee, etc.), further expanding the diversity of applications in which the serial network is employed. In this chapter, the past, present, and prospective future developments of CAN technology, with focused attention on applications in the agricultural and off-road sectors are broadly examined. CAN technology fundamentals, standards creation, modern day uses, and potential functionalities and challenges specific to CAN in the wake of precision agriculture and smart farming are discussed in detail

Cross-validation of single-step genetic evaluation in U.S. Katahdin sheep

Genomic information is used in genetic evaluation to improve prediction accuracy in most livestock species. Such is less so in sheep, particularly in the U.S. In this study, the impact of implementing singlestep genomic BLUP as compared to pedigree BLUP for weight and faecal egg count traits was evaluated in U.S. Katahdin sheep. Two methods of cross validation were utilised to compare the predictive ability and bias of estimated breeding values of these methods. Genomic information improved predictive ability for both traits, and reduced bias in the evaluation of faecal egg counts. Accuracies of estimated breeding values improved appreciably in genotyped animals. The benefit from including genomic information based on cross validation was minimal but is expected to improve as the reference population grows. Single-step genomic BLUP procedures developed will be used to update those applied in the routine genetic evaluation offered through the U.S. National Sheep Improvement Program

Sometimes you have to take the person and show them how : adapting behavioral activation for peer recovery specialist-delivery to improve methadone treatment retention

BACKGROUND: Despite efficacy of medication for opioid use disorder, low-income, ethno-racial minoritized populations often experience poor opioid use disorder treatment outcomes. Peer recovery specialists, individuals with lived experience of substance use and recovery, are well-positioned to engage hard-to-reach patients in treatment for opioid use disorder. Traditionally, peer recovery specialists have focused on bridging to care rather than delivering interventions. This study builds on research in other low-resource contexts that has explored peer delivery of evidence-based interventions, such as behavioral activation, to expand access to care. METHODS: We sought feedback on the feasibility and acceptability of a peer recovery specialist-delivered behavioral activation intervention supporting retention in methadone treatment by increasing positive reinforcement. We recruited patients and staff at a community-based methadone treatment center and peer recovery specialist working across Baltimore City, Maryland, USA. Semi-structured interviews and focus groups inquired about the feasibility and acceptability of behavioral activation, recommendations for adaptation, and acceptability of working with a peer alongside methadone treatment. RESULTS: Participants (N = 32) shared that peer recovery specialist-delivered behavioral activation could be feasible and acceptable with adaptations. They described common challenges associated with unstructured time, for which behavioral activation could be particularly relevant. Participants provided examples of how a peer-delivered intervention could fit well in the context of methadone treatment, emphasizing the importance of flexibility and specific peer qualities. CONCLUSIONS: Improving medication for opioid use disorder outcomes is a national priority that must be met with cost-effective, sustainable strategies to support individuals in treatment. Findings will guide adaptation of a peer recovery specialist-delivered behavioral activation intervention to improve methadone treatment retention for underserved, ethno-racial minoritized individuals living with opioid use disorder

Joint estimation of crown of thorns (Acanthaster planci) densities on the Great Barrier Reef

Crown-of-thorns starfish (CoTS; Acanthaster spp.) are an outbreaking pest among many Indo-Pacific coral reefs that cause substantial ecological and economic damage. Despite ongoing CoTS research, there remain critical gaps in observing CoTS populations and accurately estimating their numbers, greatly limiting understanding of the causes and sources of CoTS outbreaks. Here we address two of these gaps by (1) estimating the detectability of adult CoTS on typical underwater visual count (UVC) surveys using covariates and (2) inter-calibrating multiple data sources to estimate CoTS densities within the Cairns sector of the Great Barrier Reef (GBR). We find that, on average, CoTS detectability is high at 0.82 [0.77, 0.87] (median highest posterior density (HPD) and [95% uncertainty intervals]), with CoTS disc width having the greatest influence on detection. Integrating this information with coincident surveys from alternative sampling programs, we estimate CoTS densities in the Cairns sector of the GBR averaged 44 [41, 48] adults per hectare in 2014

Mapping our Universe in 3D with MITEoR

Mapping our universe in 3D by imaging the redshifted 21 cm line from neutral hydrogen has the potential to overtake the cosmic microwave background as our most powerful cosmological probe, because it can map a much larger volume of our Universe, shedding new light on the epoch of reionization, inflation, dark matter, dark energy, and neutrino masses. We report on MITEoR, a pathfinder low-frequency radio interferometer whose goal is to test technologies that greatly reduce the cost of such 3D mapping for a given sensitivity. MITEoR accomplishes this by using massive baseline redundancy both to enable automated precision calibration and to cut the correlator cost scaling from N^2 to NlogN, where N is the number of antennas. The success of MITEoR with its 64 dual-polarization elements bodes well for the more ambitious HERA project, which would incorporate many identical or similar technologies using an order of magnitude more antennas, each with dramatically larger collecting area.Comment: To be published in proceedings of 2013 IEEE International Symposium on Phased Array Systems & Technolog